final update

una-auxme · Dec 18, 2024 · 7fd4590 · 7fd4590
1 parent a87fd7a
commit 7fd4590
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Showing 3 changed files with 6 additions and 48 deletions.
diff --git a/code/perception/launch/perception.launch b/code/perception/launch/perception.launch
@@ -84,14 +84,14 @@
     <param name="range_topic" value="/carla/hero/LIDAR_range"/>
   </node>
 
-
-
-
-  <node pkg="perception" type="debug_wrapper.py" name="Lanedetection" output="screen" args="--debug_node=Lanedetection_node.py --debug_port=53000 --debug_wait">
+  <node pkg="perception" type="Lanedetection_node.py" name="Lanedetection" output="screen">
     <param name="role_name" value="$(arg role_name)" />
   </node> 
+
+
+
   <!--
-    <node pkg="perception" type="Lanedetection_node.py" name="Lanedetection" output="screen">
+    <node pkg="perception" type="debug_wrapper.py" name="Lanedetection" output="screen" args="debug_node=Lanedetection_node.py debug_port=53000 debug_wait">
     <param name="role_name" value="$(arg role_name)" />
   </node> 
   -->
@@ -103,10 +103,6 @@
     <param name="range_topic" value="/carla/hero/RADAR_range"/>
   </node>
 
-  <node pkg="perception" type="lane_position.py" name="lane_position" output="screen">
-    <param name="role_name" value="$(arg role_name)" />
-  </node>
-
 
 </launch>
 
diff --git a/code/perception/src/Lanedetection_node.py b/code/perception/src/Lanedetection_node.py
@@ -100,7 +100,7 @@ def image_handler(self, ImageMsg):
         applies lane detection and Driveable area detection to given ImageMsg
         """
         # free up cuda memory
-        if self.device == "cuda":
+        if self.device== "cuda":
             torch.cuda.empty_cache()
 
         image, original_image = self.preprocess_image(ImageMsg)

diff --git a/code/perception/src/lane_position.py b/code/perception/src/lane_position.py