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chore(traffic_light_map_based_detector): rework parameters (autowarefoundation#6200)
* chore: use config Signed-off-by: tzhong518 <sworgun@gmail.com> * chore: use config Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: revert min_timestamp_offset Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: revert min_timestamp_offset Signed-off-by: tzhong518 <sworgun@gmail.com> * fix: delete param Signed-off-by: tzhong518 <sworgun@gmail.com> * style(pre-commit): autofix * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml * Update launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml * revert: revert change in min&max timestamp offset Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: tzhong518 <sworgun@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <koji.minoda@tier4.jp>
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launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

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@@ -46,10 +46,11 @@
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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="$(var map_based_detector_output_topic)"/>
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<arg name="output/camera_info" value="camera_info"/>
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<!-- This parameter should be configured differently for each camera considering their delay. -->
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<arg name="min_timestamp_offset" value="-0.3"/>
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<arg name="max_timestamp_offset" value="0.0"/>
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</include>
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</group>
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@@ -100,10 +101,11 @@
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<push-ros-namespace namespace="detection"/>
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<include file="$(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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perception/traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml

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@@ -6,5 +6,6 @@
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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

perception/traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml

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Original file line numberDiff line numberDiff line change
@@ -5,12 +5,11 @@
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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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<arg name="param_path" default="$(find-pkg-share traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml"/>
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<node pkg="traffic_light_map_based_detector" exec="traffic_light_map_based_detector_node" name="traffic_light_map_based_detector" output="screen">
@@ -19,10 +18,8 @@
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<remap from="~/expect/rois" to="$(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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