From c54858fa743e927a4a1b070ae9b060da0d249958 Mon Sep 17 00:00:00 2001
From: Manato Hirabayashi <3022416+manato@users.noreply.github.com>
Date: Wed, 11 Sep 2024 17:14:15 +0900
Subject: [PATCH] fix: update edge auto (#17)

* refactor(yolox): change param file name because of its versatility

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>

* revert(yolox): introduce condition to use composable container

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>

* revert(bytetrack): introduce condition to use composable container

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>

* fix(image_transport_decompressor): treat autoware prefix

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>

---------

Signed-off-by: Manato HIRABAYASHI <manato.hirabayashi@tier4.jp>
---
 .../image_transport_decompressor.param.yaml   |  3 ++
 ...yolox_tiny.param.yaml => yolox.param.yaml} |  0
 .../launch/bytetrack.launch.xml               | 36 +++++++++++++++---
 .../image_transport_decompressor.launch.xml   |  7 +++-
 .../launch/tensorrt_yolox.launch.xml          | 37 ++++++++++++++-----
 5 files changed, 66 insertions(+), 17 deletions(-)
 create mode 100644 edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml
 rename edge_auto_jetson_launch/config/{yolox_tiny.param.yaml => yolox.param.yaml} (100%)

diff --git a/edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml b/edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml
new file mode 100644
index 0000000..05b0f0b
--- /dev/null
+++ b/edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    encoding: default
diff --git a/edge_auto_jetson_launch/config/yolox_tiny.param.yaml b/edge_auto_jetson_launch/config/yolox.param.yaml
similarity index 100%
rename from edge_auto_jetson_launch/config/yolox_tiny.param.yaml
rename to edge_auto_jetson_launch/config/yolox.param.yaml
diff --git a/edge_auto_jetson_launch/launch/bytetrack.launch.xml b/edge_auto_jetson_launch/launch/bytetrack.launch.xml
index d5875e0..f66dbf4 100755
--- a/edge_auto_jetson_launch/launch/bytetrack.launch.xml
+++ b/edge_auto_jetson_launch/launch/bytetrack.launch.xml
@@ -7,18 +7,42 @@
   <arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/bytetrack_visualizer.param.yaml"/>
   <arg name="enable_visualizer" default="true"/>
   <arg name="camera_id" default="0" />
+  <arg name="container_name" default="" />
 
-  <node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(var camera_id)">
-    <remap from="~/in/rect" to="$(var input/objects)"/>
-    <remap from="~/out/objects" to="$(var output/objects)"/>
-    <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
-    <param from="$(var bytetrack_param_path)"/>
-  </node>
+  <let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
+  <!-- If container name is not specified,
+       execute function as an individual node  -->
+  <group if="$(var empty_container_is_specified)">
+    <node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(var camera_id)">
+      <remap from="~/in/rect" to="$(var input/objects)"/>
+      <remap from="~/out/objects" to="$(var output/objects)"/>
+      <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
+      <param from="$(var bytetrack_param_path)"/>
+    </node>
+  </group>
+
+  <!-- If container name is specified,
+       execute function as a composable node and load it into the container  -->
+  <group unless= "$(var empty_container_is_specified)">
+    <load_composable_node target="$(var container_name)">
+      <composable_node pkg="autoware_bytetrack" plugin="autoware::bytetrack::ByteTrackNode" name="bytetrack$(var camera_id)">
+        <remap from="~/in/rect" to="$(var input/objects)"/>
+        <remap from="~/out/objects" to="$(var output/objects)"/>
+        <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
+        <param from="$(var bytetrack_param_path)"/>
+        <extra_arg name="use_intra_process_comms" value="true"/>
+      </composable_node>
+    </load_composable_node>
+  </group>
 
   <node pkg="autoware_bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(var enable_visualizer)" name="bytetrack_visualizer_node_exe_$(var camera_id)">
     <remap from="~/in/image" to="$(var input/image)"/>
     <remap from="~/in/rect" to="$(var output/objects)"/>
     <remap from="~/in/uuid" to="$(var output/objects)/debug/uuid"/>
+    <remap from="~/out/image" to="$(var output/objects)/debug/image"/>
+    <remap from="~/out/image/compressed" to="$(var output/objects)/debug/image/compressed"/>
+    <remap from="~/out/image/compressedDepth" to="$(var output/objects)/debug/image/compressedDepth"/>
+    <remap from="~/out/image/theora" to="$(var output/objects)/debug/image/theora"/>
     <param from="$(var bytetrack_visualizer_param_path)"/>
   </node>
 
diff --git a/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml b/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
index ae76a17..c683270 100644
--- a/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
+++ b/edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
@@ -9,14 +9,16 @@
   <!-- flag to use ROS2 intra process -->
   <arg name="use_intra_process" default="True" />
 
+  <arg name="image_transport_decompressor_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/image_transport_decompressor.param.yaml"/>
 
   <let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
   <!-- If container name is not specified,
        execute function as an individual node  -->
   <group if="$(var empty_container_is_specified)">
-    <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor">
+    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor">
       <remap from="~/input/compressed_image" to="$(var input/compressed_image)" />
       <remap from="~/output/raw_image" to="$(var output/raw_image)" />
+      <param from="$(var image_transport_decompressor_param_path)"/>
     </node>
   </group>
 
@@ -24,9 +26,10 @@
        execute function as a composable node and load it into the container  -->
   <group unless="$(var empty_container_is_specified)">
     <load_composable_node target="$(var container_name)">
-      <composable_node pkg="image_transport_decompressor" plugin="image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor">
+      <composable_node pkg="autoware_image_transport_decompressor" plugin="autoware::image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor">
         <remap from="~/input/compressed_image" to="$(var input/compressed_image)" />
         <remap from="~/output/raw_image" to="$(var output/raw_image)" />
+	      <param from="$(var image_transport_decompressor_param_path)"/>
         <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
       </composable_node>
     </load_composable_node>
diff --git a/edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml b/edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml
index 5ec70a8..960adf8 100644
--- a/edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml
+++ b/edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml
@@ -4,16 +4,35 @@
   <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
   <arg name="model_name" default="yolox-sPlus-opt"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
-  <arg name="yolox_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/yolox_tiny.param.yaml"/>
-  <arg name="use_decompress" default="true" description="use image decompress"/>
+  <arg name="yolox_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/yolox.param.yaml"/>
   <arg name="build_only" default="false" description="exit after trt engine is built"/>
   <arg name="camera_id" default="0" />
-  
-  <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var camera_id)" output="screen">
-    <remap from="~/in/image" to="$(var input/image)"/>
-    <remap from="~/out/objects" to="$(var output/objects)"/>
-    <param from="$(var yolox_param_path)" allow_substs="true"/>
-    <param name="build_only" value="$(var build_only)"/>
-  </node>
+  <arg name="container_name" default="" />
+
+  <let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
+  <!-- If container name is not specified,
+       execute function as an individual node  -->
+  <group if="$(var empty_container_is_specified)">
+    <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var camera_id)" output="screen">
+      <remap from="~/in/image" to="$(var input/image)"/>
+      <remap from="~/out/objects" to="$(var output/objects)"/>
+      <param from="$(var yolox_param_path)" allow_substs="true"/>
+      <param name="build_only" value="$(var build_only)"/>
+    </node>
+  </group>
+
+  <!-- If container name is specified,
+       execute function as a composable node and load it into the container  -->
+  <group unless= "$(var empty_container_is_specified)">
+    <load_composable_node target="$(var container_name)">
+      <composable_node pkg="autoware_tensorrt_yolox" plugin="autoware::tensorrt_yolox::TrtYoloXNode" name="tensorrt_yolox_$(var camera_id)">
+        <remap from="~/in/image" to="$(var input/image)"/>
+        <remap from="~/out/objects" to="$(var output/objects)"/>
+        <param from="$(var yolox_param_path)" allow_substs="true"/>
+        <param name="build_only" value="$(var build_only)"/>
+        <extra_arg name="use_intra_process_comms" value="true" />
+      </composable_node>
+    </load_composable_node>
+  </group>
 
 </launch>