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feat: add perception launch package (autowarefoundation#176)
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* release v0.4.0

* Nodelet tlr (autowarefoundation#56)

* temporary commit tlr_nodelet

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* compressed to compressed

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update traffic_light.launch

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* change image_transport to relay

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* decompress as rgb8

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* removed ROS1 package

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "removed ROS1 package"

This reverts commit 976754a13aff34af749503d187c3851adbd3e73b.

* add COLCON_IGNORE file to all ROS1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* rename *.launch files to *.launch.xml

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [ROS2 Porting] perception_launch (#6)

* Initial port to ROS 2

* Port to ROS 2

* Added dependencies

* fix perception_launch

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Use arg instead of let

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [perception_launch] fix perception_launch (autowarefoundation#34)

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* perception_launch: Fix lidar based detection launch (autowarefoundation#42)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* ROS2 Linting: perception_launch (autowarefoundation#36)

* Add linters and missing package dependencies

* Alphabetise packages

* perception_launch: Traffic light composable nodes (autowarefoundation#43)

* perception_launch: Traffic light composable nodes

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix arg

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [perception launch]: Remove unused import

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix dependency temporarily for v0.8.0 update. (autowarefoundation#60)

* Fix build_depends.repos temporarily

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Remove deprecated packages

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Ros2 v0.8.0 perception launch (autowarefoundation#56)

* restore file names

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* update camera lidar fusion arch (autowarefoundation#122)

* Update yolo launch (autowarefoundation#155)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Revert "restore file names"

This reverts commit 7b50ca1b0067cc29eed73b992dd2bbadc538f4f9.

* fix name

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix launch arg

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix dependency

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* cosmetic change (autowarefoundation#138)

* cosmetic change

* add image topic

* fix bug

* rename topic names according to ros2 topic name rules

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [perception_launch] add object_merger as exec_depend

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [perception launch]: Add missing dependecies for traffic light recognition

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [perception launch]: Fix attributes in arg tag

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [perceptioon_launch] update roi_visualization launch

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [perception_launch]: Fix camera topic name

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [perception_launch]: Fix camera default topic in fusion launch

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add depend tag for image_transport_plugin (autowarefoundation#95)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix typo in perception launch files (autowarefoundation#93)

* add use_sim-time option (autowarefoundation#99)

* Format launch files (autowarefoundation#178)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Sync public repo (autowarefoundation#185)

* add tier4 usbcam (autowarefoundation#104)

* add tier4 usbcam

* change version

* tier4/ros2

* Ros2 vehicle info param server (autowarefoundation#96)

* add vehicle info param server

* delete vehicle param file

Co-authored-by: taikitanaka <ttatcoder@outlook.jp>

* Ros2 fix topic name part2 (autowarefoundation#89)

* Fix topic name for traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name for traffic_light_visualization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name for traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

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Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: taikitanaka <ttatcoder@outlook.jp>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>

* Fix incorrect remap (autowarefoundation#183)

* Fix incorrect remap

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use set_remap

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use set_parameter for use_sim_time (autowarefoundation#198)

* Use set_parameter for use_sim_time

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add default parameter for scenario simulator

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Feature/porting v0.9.1 master (autowarefoundation#202)

* add simulation arg (autowarefoundation#174)

* add simulation arg

* add comment

* change arg name

* add parameter use_empty_dynamic_object_publisher into perception.launch (autowarefoundation#176)

Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>

Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp>
Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com>

* Format launch files (autowarefoundation#228)

* Format launch files

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Format launch.py

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Put image decompressor into container (autowarefoundation#241)

* Put image decompressor into container

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix bug

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* add traffic light map viz (autowarefoundation#149) (autowarefoundation#207)

* add traffic light map viz (autowarefoundation#149)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix launch tag

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>

* add description for perception (autowarefoundation#334)

* add README.md and svg files (autowarefoundation#328)

* add md and svg

* fix typo

* fix typo

* fix word

* fix typo

* add lack of things

* Update README

* fix depending packages

* fix word

* add config directory to perception_launch  and data_association_matrix.param.yaml autowarefoundation#367

Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>

* Fix pre-commit (autowarefoundation#407)

* Fix pre-commit errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix package.xml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix: Modify arg in drawio graph for README (perception launch) (autowarefoundation#466)

Modified True/False and alignment (put to center) of use_empty_dynamic_object_publisher in drawio graph.

* lidar_detection: apollo instance segmentation -> centerpoint (autowarefoundation#225) (autowarefoundation#307)

Co-authored-by: Yusuke Muramatsu <yukke42@users.noreply.github.com>

* Feature/porting camera lidar fusion (autowarefoundation#316)

* Feature/camera lidar fusion (autowarefoundation#248)

* change camera lidar fusion node

* change default mode of object recognition

* change spilit range parameter from 10 to 30 (autowarefoundation#272)

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* add detection by tracker (autowarefoundation#418)

add detection by tracker

* Add option to select lidar detection model (autowarefoundation#450)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Change formatter to black (autowarefoundation#488)

* Update pre-commit settings

* Apply Black

* Replace ament_lint_common with autoware_lint_common

* Update build_depends.repos

* Fix build_depends

* Auto/fix launch (autowarefoundation#110)

* fix namespace

* remove dynamic_object_visualization

* fix rviz

* Update package.xml (autowarefoundation#111)

* remove unused depend/launcher (autowarefoundation#112)

* Auto/launcher ground segmentation (autowarefoundation#117)

* add base line launch

* add ground_segmentation launcher

* run pre-commit

* clean up

* fix coding style

* fix topic name

* fix yaml params

* fix loader name

* rename components

* improve implementation

* add feature remover (autowarefoundation#122)

* add feature remover (autowarefoundation#124)

* support x1 perception config (autowarefoundation#129)

* support x1 perception config

* remove product config

* update launch.py

* maintain some filters params in yaml file

* add function to create elevation map pipeline

* add param to yaml

* Update traffic light topic name (autowarefoundation#131)

* Update traffic light topic name

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Update traffic light topic name in perception

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix exec depend in perception launch (autowarefoundation#132)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* auto/fix occupancy grid map topic name (autowarefoundation#137)

* fix/rename segmentation namespace (autowarefoundation#139)

* fix namespace: rviz config

* fix namespace: planning stack

* rename segmentatino directory

* fix namespace: perception stack

* fix/move occupancy grid map outlier filter (autowarefoundation#143)

* fix package name

* add occupancy grid map launch

* update launcher

* rename filter package

* fix/add pointcloud_preprocessor depend (autowarefoundation#146)

* fix/add use_intra_process_comm option (autowarefoundation#148)

* feature/use common pointcloud container (autowarefoundation#147)

* add container argument

* load composable node to pointcloud_container

* fix autoware_launch

* enable multi-thread

* improve readability

* Add elevation map loader to ground seg launch (autowarefoundation#136)

* change elevation_map_parameters location (autowarefoundation#151)

* refactor ground segmentation launch (autowarefoundation#153)

* Fix/update obstacle segmentation namespace (autowarefoundation#154)

* update topic name

* update namespace

* feat: add default vehicle param

* fix: common_ground_filter for use default param

* ci(pre-commit): autofix

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
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@1222-takeshi @mitsudome-r
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16 changes: 16 additions & 0 deletions launch/perception_launch/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(perception_launch)

find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_auto_package(
INSTALL_TO_SHARE
launch
config
)
20 changes: 20 additions & 0 deletions launch/perception_launch/README.md
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# perception_launch

## Structure

![perception_launch](./perception_launch.drawio.svg)

## Package Dependencies

Please see `<exec_depend>` in `package.xml`.

## Usage

You can include as follows in `*.launch.xml` to use `perception.launch.xml`.

```xml
<include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
<!-- options for mode: camera_lidar_fusion, lidar, camera -->
<arg name="mode" value="lidar" />
</include>
```
52 changes: 52 additions & 0 deletions ...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
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/**:
ros__parameters:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
1, 1, 1, 1, 0, 0, 0, 0, #CAR
1, 1, 1, 1, 0, 0, 0, 0, #TRUCK
1, 1, 1, 1, 0, 0, 0, 0, #BUS
0, 0, 0, 0, 1, 1, 1, 0, #BICYCLE
0, 0, 0, 0, 1, 1, 1, 0, #MOTORBIKE
0, 0, 0, 0, 1, 1, 1, 0, #PEDESTRIAN
0, 0, 0, 0, 0, 0, 0, 1] #ANIMAL
max_dist_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, #UNKNOWN
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #CAR
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #TRUCK
4.0, 2.0, 5.0, 5.0, 1.0, 1.0, 1.0, 1.0, #BUS
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #BICYCLE
3.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #MOTORBIKE
2.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0, 1.0, #PEDESTRIAN
1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0] #ANIMAL
max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, #UNKNOWN
12.10, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #CAR
19.75, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #TRUCK
32.40, 12.10, 19.75, 32.40, 10000.00, 10000.00, 10000.00, 10000.00, #BUS
2.50, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, 10000.00, #BICYCLE
3.00, 10000.00, 10000.00, 10000.00, 2.50, 2.50, 1.00, 10000.00, #MOTORBIKE
2.00, 10000.00, 10000.00, 10000.00, 1.50, 1.50, 1.00, 10000.00, #PEDESTRIAN
2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00] #ANIMAL
min_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
3.600, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #CAR
6.000, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #TRUCK
10.000, 3.600, 6.000, 10.000, 0.000, 0.000, 0.000, 0.000, #BUS
0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #BICYCLE
0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #MOTORBIKE
0.001, 0.000, 0.000, 0.000, 0.100, 0.100, 0.100, 0.000, #PEDESTRIAN
0.500, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #ANIMAL
max_rad_matrix: # If value is greater than pi, it will be ignored.
#UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
[3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #UNKNOWN
3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #CAR
3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #TRUCK
3.150, 1.047, 1.047, 1.047, 3.150, 3.150, 3.150, 3.150, #BUS
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #BICYCLE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #MOTORBIKE
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, #PEDESTRIAN
3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150, 3.150] #ANIMAL
30 changes: 30 additions & 0 deletions ...ion_launch/config/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml
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pcl_grid_map_extraction:
num_processing_threads: 12
cloud_transform:
translation:
x: 0.0
y: 0.0
z: 0.0
rotation: #intrinsic rotation X-Y-Z (r-p-y)sequence
r: 0.0
p: 0.0
y: 0.0
cluster_extraction:
cluster_tolerance: 0.2
min_num_points: 3
max_num_points: 1000000
outlier_removal:
is_remove_outliers: false
mean_K: 10
stddev_threshold: 1.0
downsampling:
is_downsample_cloud: false
voxel_size:
x: 0.02
y: 0.02
z: 0.02
grid_map:
min_num_points_per_cell: 3
resolution: 0.3
height_type: 1
height_thresh: 1.0
23 changes: 23 additions & 0 deletions ...on_launch/config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml
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/**:
ros__parameters:
additional_lidars: []
ransac_input_topics: []
use_single_frame_filter: False
use_time_series_filter: True

common_crop_box_filter:
parameters:
min_x: -50.0
max_x: 100.0
min_y: -50.0
max_y: 50.0
negative: False

common_ground_filter:
plugin: "ground_segmentation::ScanGroundFilterComponent"
parameters:
global_slope_max_angle_deg: 10.0
local_slope_max_angle_deg: 30.0
split_points_distance_tolerance: 0.2
split_height_distance: 0.2
use_virtual_ground_point: False
110 changes: 110 additions & 0 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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<?xml version="1.0"?>
<launch>
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default="/image_raw1"/>
<arg name="camera_info1" default="/camera_info1"/>
<arg name="image_raw2" default="/image_raw2"/>
<arg name="camera_info2" default="/camera_info2"/>
<arg name="image_raw3" default="/image_raw3"/>
<arg name="camera_info3" default="/camera_info3"/>
<arg name="image_raw4" default="/image_raw4"/>
<arg name="camera_info4" default="/camera_info4"/>
<arg name="image_raw5" default="/image_raw5"/>
<arg name="camera_info5" default="/camera_info5"/>
<arg name="image_raw6" default="/image_raw6"/>
<arg name="camera_info6" default="/camera_info6"/>
<arg name="image_raw7" default="/image_raw7"/>
<arg name="camera_info7" default="/camera_info7"/>
<arg name="image_number" default="1" description="choose image raw number(0-7)"/>
<arg name="use_vector_map" default="true" description="use vector map in prediction"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="image_number" value="$(var image_number)"/>
</include> -->

<group>
<push-ros-namespace namespace="euclidean"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="output_clusters" value="lidar/clusters"/>
</include>
<include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="clustering/lidar/clusters"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output" value="camera_lidar_fusion/clusters"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="use_map_current" value="$(var use_vector_map)"/>
<arg name="input/objects" value="camera_lidar_fusion/clusters" />
<arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
<arg name="orientation_reliable" value="false"/>
</include>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="camera_lidar_fusion/objects_with_feature" />
<arg name="output" value="camera_lidar_fusion/objects" />
</include>
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
<arg name="input/object" value="camera_lidar_fusion/objects"/>
<arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
<arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
<arg name="split_range" value="30.0"/>
</include>
</group>

<group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
<push-ros-namespace namespace="centerpoint"/>
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
<arg name="output/objects" value="objects" />
</include>
</group>

<group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
<push-ros-namespace namespace="apollo"/>
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="output/objects" value="objects"/>
<arg name="use_map_current" value="$(var use_vector_map)"/>
</include>
</group>

<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="output/object" value="objects"/>
</include>
</launch>
60 changes: 60 additions & 0 deletions launch/perception_launch/launch/object_recognition/detection/detection.launch.xml
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<?xml version="1.0"?>

<launch>
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<!-- "camera_lidar_fusion", "lidar" or "camera" -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default=""/>
<arg name="camera_info1" default=""/>
<arg name="image_raw2" default=""/>
<arg name="camera_info2" default=""/>
<arg name="image_raw3" default=""/>
<arg name="camera_info3" default=""/>
<arg name="image_raw4" default=""/>
<arg name="camera_info4" default=""/>
<arg name="image_raw5" default=""/>
<arg name="camera_info5" default=""/>
<arg name="image_raw6" default=""/>
<arg name="camera_info6" default=""/>
<arg name="image_raw7" default=""/>
<arg name="camera_info7" default=""/>
<arg name="image_number" default="1" description="choose image raw number(0-7)"/>
<arg name="use_vector_map" default="true" description="use vector map in prediction"/>

<!-- camera lidar fusion based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
</group>
<!-- lidar based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<arg name="use_vector_map" value="$(var use_vector_map)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
</group>
<!-- camera based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera&quot;')">
</group>
</launch>
54 changes: 54 additions & 0 deletions ...ch/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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<?xml version="1.0"?>
<launch>
<arg name="use_vector_map" default="true" description="use vector map in prediction"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>

<!-- Clustering -->
<group>
<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"/>
</include>
</group>

<!-- DetectionByTracker -->
<group>
<push-ros-namespace namespace="detection_by_tracker"/>
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
</include>
</group>

<!-- CenterPoint -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
<push-ros-namespace namespace="centerpoint"/>
<group>
<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
</group>
</group>

<!-- Lidar Apollo Instance Segmentation -->
<group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
<push-ros-namespace namespace="apollo"/>
<group>
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="output/objects" value="objects_with_feature"/>
<arg name="use_map_current" value="$(var use_vector_map)"/>
</include>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature" />
<arg name="output" value="objects" />
</include>
</group>
</group>

<!-- Merger -->
<group>
<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="detection_by_tracker/objects"/>
<arg name="output/object" value="objects"/>
</include>
</group>
</launch>
16 changes: 16 additions & 0 deletions launch/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
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<?xml version="1.0"?>

<launch>
<arg name="use_vector_map" default="false" description="use vector map in prediction"/>

<group if="$(var use_vector_map)">
<set_remap from="objects" to="/perception/object_recognition/objects"/>
<include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
<arg name="output_topic" value="/perception/object_recognition/objects"/>
</include>
</group>
<group unless="$(var use_vector_map)">
<include file="$(find-pkg-share naive_path_prediction)/launch/naive_path_prediction.launch.xml">
</include>
</group>
</launch>
7 changes: 7 additions & 0 deletions launch/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
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<?xml version="1.0"?>

<launch>
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
<arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" />
</include>
</launch>
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