feat: change centerpoint model path (#314)

feat: change centerpoint model path (#313) * chore: change centerpoint model path * Parameter to specify model path --------- Co-authored-by: Shohei Sakai <[email protected]>
tier4 · Jun 25, 2024 · dc9d4fd · dc9d4fd
1 parent 6f2695d
commit dc9d4fd
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Showing 3 changed files with 9 additions and 2 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -48,6 +48,10 @@
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
   <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>
+  <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
+  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
+  <!-- Localization -->
+  <arg name="localization_mode" default="lidar" description="select localization mode. lidar, camera"/>
 
   <!-- Global parameters -->
   <group scoped="false">

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -26,8 +26,8 @@
     <arg name="use_low_height_cropbox" value="false"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="centerpoint_model_name" value="aip_x2"/>
-    <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
-    <arg name="centerpoint_model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_x2.param.yaml"/>
+    <arg name="centerpoint_model_path" value="/opt/autoware/mlmodels/centerpoint"/>
+    <arg name="centerpoint_model_param_path" value="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml"/>
 
     <!-- object recognition -->
     <arg

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -34,6 +34,9 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <!-- Scenario simulation -->
   <arg name="scenario_simulation" default="true" description="use scenario simulation"/>
+  <!-- Perception -->
+  <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
+  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">