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yukkysaitoyukkysaito
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fix: integration miss related to camera lidar fusion (autowarefoundation#481)
* fix integration miss Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add detection by tracker Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * Update launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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+43
-19
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6 files changed

+43
-19
lines changed

‎launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

+28-6
Original file line numberDiff line numberDiff line change
@@ -37,6 +37,7 @@
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<push-ros-namespace namespace="euclidean"/>
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<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
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<arg name="output_clusters" value="lidar/clusters"/>
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<arg name="use_pointcloud_map" value="false"/>
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</include>
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<include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
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<arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -68,10 +69,8 @@
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<arg name="output" value="camera_lidar_fusion/clusters"/>
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</include>
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<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
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<arg name="use_map_current" value="$(var use_vector_map)"/>
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<arg name="input/objects" value="camera_lidar_fusion/clusters" />
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<arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
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<arg name="orientation_reliable" value="false"/>
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</include>
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<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
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<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -86,25 +85,48 @@
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</include>
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</group>
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<!-- CenterPoint -->
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<group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
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<push-ros-namespace namespace="centerpoint"/>
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<include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
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<arg name="output/objects" value="objects" />
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</include>
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</group>
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<!-- Lidar Apollo Instance Segmentation -->
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<group if="$(eval &quot;'$(var lidar_detection_model)'=='apollo'&quot;)">
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<push-ros-namespace namespace="apollo"/>
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<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
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<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
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<arg name="output/objects" value="objects"/>
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<arg name="use_map_current" value="$(var use_vector_map)"/>
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<group>
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<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
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<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
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<arg name="output/objects" value="objects_with_feature"/>
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<arg name="use_vehicle_reference_yaw" value="true"/>
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</include>
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<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
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<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
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<arg name="input" value="objects_with_feature" />
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<arg name="output" value="objects" />
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</include>
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</group>
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</group>
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<!-- DetectionByTracker -->
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<group>
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<push-ros-namespace namespace="detection_by_tracker"/>
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<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
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</include>
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</group>
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120+
<!-- Merger -->
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<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
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<arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
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<arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
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<arg name="output/object" value="camera_lidar_fusion/objects"/>
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</include>
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<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
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<arg name="input/object0" value="detection_by_tracker/objects"/>
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<arg name="input/object1" value="camera_lidar_fusion/objects"/>
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<arg name="output/object" value="objects"/>
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</include>
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</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -33,7 +33,7 @@
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<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
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<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
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<arg name="output/objects" value="objects_with_feature"/>
36-
<arg name="use_map_current" value="$(var use_vector_map)"/>
36+
<arg name="use_vehicle_reference_yaw" value="true"/>
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</include>
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<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
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<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">

‎perception/roi_cluster_fusion/src/roi_cluster_fusion_nodelet.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -47,7 +47,7 @@ Debugger::Debugger(rclcpp::Node * node, const int camera_num) : node_(node)
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for (int id = 0; id < camera_num; ++id) {
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auto sub = image_transport::create_subscription(
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node, "input/image_raw" + std::to_string(id),
50-
boost::bind(&Debugger::imageCallback, this, _1, id), "raw");
50+
boost::bind(&Debugger::imageCallback, this, _1, id), "raw", rmw_qos_profile_sensor_data);
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image_subs_.push_back(sub);
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if (node->has_parameter("format")) {
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node->undeclare_parameter("format");

‎perception/shape_estimation/launch/shape_estimation.launch.xml

+3-3
Original file line numberDiff line numberDiff line change
@@ -2,15 +2,15 @@
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<arg name="input/objects" default="labeled_clusters"/>
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<arg name="output/objects" default="shape_estimated_objects"/>
5-
<arg name="use_map_current" default="true"/>
5+
<arg name="use_filter" default="true"/>
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<arg name="use_corrector" default="true"/>
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<arg name="node_name" default="shape_estimation"/>
8-
<arg name="use_vehicle_reference_yaw" default="true"/>
8+
<arg name="use_vehicle_reference_yaw" default="false"/>
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<node pkg="shape_estimation" exec="shape_estimation" name="$(var node_name)" output="screen">
1010
<remap from="input" to="$(var input/objects)" />
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<remap from="objects" to="$(var output/objects)" />
12+
<param name="use_filter" value="$(var use_filter)" />
1213
<param name="use_corrector" value="$(var use_corrector)" />
13-
<param name="use_map_current" value="$(var use_map_current)" />
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<param name="use_vehicle_reference_yaw" value="$(var use_vehicle_reference_yaw)"/>
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</node>
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</launch>

‎sensing/image_transport_decompressor/CMakeLists.txt

+3-1
Original file line numberDiff line numberDiff line change
@@ -39,4 +39,6 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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endif()
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42-
ament_auto_package()
42+
ament_auto_package(INSTALL_TO_SHARE
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launch
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)

‎sensing/image_transport_decompressor/launch/image_transport_decompressor.launch.xml

+7-7
Original file line numberDiff line numberDiff line change
@@ -1,9 +1,9 @@
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<launch>
2-
<arg name="input_topic_name" default="/input/compressed_image" />
3-
<arg name="output_topic_name" default="/output/raw_image" />
2+
<arg name="input_topic_name" default="/input/compressed_image" />
3+
<arg name="output_topic_name" default="/output/raw_image" />
44

5-
<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor_node">
6-
<remap from="input" to="$(var input_topic_name)" />
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<remap from="output" to="$(var output_topic_name)" />
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</node>
9-
</launch>
5+
<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="$(anon image_transport_decompressor_node)">
6+
<remap from="~/input/compressed_image" to="$(var input_topic_name)" />
7+
<remap from="~/output/raw_image" to="$(var output_topic_name)" />
8+
</node>
9+
</launch>

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