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-8
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launch/tier4_perception_launch/launch/traffic_light_recognition
perception/traffic_light_map_based_detector
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<push-ros-namespace namespace =" detection" />
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<include file =" $(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml" >
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<arg name =" input/camera_info" value =" $(var input/camera_info)" />
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- <arg name =" min_timestamp_offset" value =" -0.3" />
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<arg name =" expect/rois" value =" expect/rois" />
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<arg name =" output/rois" value =" $(var map_based_detector_output_topic)" />
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- <arg name =" output/camera_info" value =" camera_info" />
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+ <!-- This parameter should be configured differently for each camera considering their delay. -->
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+ <arg name =" min_timestamp_offset" value =" -0.3" />
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+ <arg name =" max_timestamp_offset" value =" 0.0" />
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</include >
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</group >
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<push-ros-namespace namespace =" detection" />
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<include file =" $(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml" >
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<arg name =" input/camera_info" value =" $(var input/camera_info)" />
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- <arg name =" min_timestamp_offset" value =" -0.04" />
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<arg name =" expect/rois" value =" expect/rois" />
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<arg name =" output/rois" value =" $(var map_based_detector_output_topic)" />
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- <arg name =" output/camera_info" value =" camera_info" />
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+ <!-- This parameter should be configured differently for each camera considering their delay. -->
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+ <arg name =" min_timestamp_offset" value =" -0.04" />
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+ <arg name =" max_timestamp_offset" value =" 0.0" />
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</include >
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</group >
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max_vibration_width : 0.5 # -0.25 ~ 0.25 m
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max_vibration_depth : 0.5 # -0.25 ~ 0.25 m
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max_detection_range : 200.0
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+ timestamp_sample_len : 0.02
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car_traffic_light_max_angle_range : 40.0
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pedestrian_traffic_light_max_angle_range : 80.0
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<arg name =" input/route" default =" /planning/mission_planning/route" />
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<arg name =" expect/rois" default =" ~/expect/rois" />
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<arg name =" output/rois" default =" ~/output/rois" />
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- <arg name =" output/camera_info" default =" ~/camera_info" />
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<!-- This parameter should be configured differently for each camera considering their delay.-->
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<arg name =" min_timestamp_offset" default =" 0.0" />
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<!-- This parameter should be configured differently for each camera considering their delay.-->
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<arg name =" max_timestamp_offset" default =" 0.0" />
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- < arg name = " timestamp_sample_len " default = " 0.02 " />
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+
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<arg name =" param_path" default =" $(find-pkg-share traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml" />
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<node pkg =" traffic_light_map_based_detector" exec =" traffic_light_map_based_detector_node" name =" traffic_light_map_based_detector" output =" screen" >
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<remap from =" ~/expect/rois" to =" $(var expect/rois)" />
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<remap from =" ~/input/route" to =" $(var input/route)" />
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<remap from =" ~/output/rois" to =" $(var output/rois)" />
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- <remap from =" ~/output/camera_info" to =" $(var output/camera_info)" />
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<param from =" $(var param_path)" />
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<param name =" min_timestamp_offset" value =" $(var min_timestamp_offset)" />
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<param name =" max_timestamp_offset" value =" $(var max_timestamp_offset)" />
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- <param name =" timestamp_sample_len" value =" $(var timestamp_sample_len)" />
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</node >
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</launch >
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