Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix: detection launch in perception_launch #506

Merged
merged 1 commit into from
Mar 11, 2022
+7 −6
Merged

fix: detection launch in perception_launch #506

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 4 additions & 4 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -34,9 +34,9 @@
</include> -->

<group>
<push-ros-namespace namespace="euclidean"/>
<push-ros-namespace namespace="clustering"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="output_clusters" value="lidar/clusters"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_pointcloud_map" value="false"/>
</include>
<include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
Expand All @@ -57,7 +57,7 @@
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="clustering/lidar/clusters"/>
<arg name="input/clusters" value="clusters"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
Expand Down Expand Up @@ -120,7 +120,7 @@
<!-- Merger -->
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
<arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
<arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
<arg name="output/object" value="camera_lidar_fusion/objects"/>
</include>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
Expand Down
1 change: 1 addition & 0 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,7 @@

<!-- Clustering -->
<group>
<push-ros-namespace namespace="clustering"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="output_clusters" value="clusters"/>
<arg name="use_pointcloud_map" value="false"/>
Expand Down
2 changes: 1 addition & 1 deletion perception/euclidean_cluster/launch/euclidean_cluster.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ def load_composable_node_param(param_path):
with open(LaunchConfiguration(param_path).perform(context), "r") as f:
return yaml.safe_load(f)["/**"]["ros__parameters"]

ns = "euclidean_cluster"
ns = ""
pkg = "euclidean_cluster"

# set voxel grid filter as a component
Expand Down
2 changes: 1 addition & 1 deletion perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ def load_composable_node_param(param_path):
with open(LaunchConfiguration(param_path).perform(context), "r") as f:
return yaml.safe_load(f)["/**"]["ros__parameters"]

ns = "clustering"
ns = ""
pkg = "euclidean_cluster"

# set compare map filter as a component
Expand Down