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chore(image_projection_based_fusion): rename debug topics (#6418)
* chore(image_projection_based_fusion): rename debug topics Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> * style(pre-commit): autofix * fix: roi_pointcloud_fusion namespace Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> --------- Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

+33-30
Original file line numberDiff line numberDiff line change
@@ -117,36 +117,39 @@
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<!-- roi based clustering -->
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<group>
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<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
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<arg name="input/camera_info0" value="$(var camera_info0)"/>
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<arg name="input/rois0" value="$(var detection_rois0)"/>
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<arg name="input/camera_info1" value="$(var camera_info1)"/>
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<arg name="input/rois1" value="$(var detection_rois1)"/>
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<arg name="input/camera_info2" value="$(var camera_info2)"/>
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<arg name="input/rois2" value="$(var detection_rois2)"/>
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<arg name="input/camera_info3" value="$(var camera_info3)"/>
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<arg name="input/rois3" value="$(var detection_rois3)"/>
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<arg name="input/camera_info4" value="$(var camera_info4)"/>
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<arg name="input/rois4" value="$(var detection_rois4)"/>
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<arg name="input/camera_info5" value="$(var camera_info5)"/>
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<arg name="input/rois5" value="$(var detection_rois5)"/>
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<arg name="input/camera_info6" value="$(var camera_info6)"/>
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<arg name="input/rois6" value="$(var detection_rois6)"/>
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<arg name="input/camera_info7" value="$(var camera_info7)"/>
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<arg name="input/rois7" value="$(var detection_rois7)"/>
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<arg name="input/rois_number" value="$(var image_number)"/>
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<arg name="input/image0" value="$(var image_raw0)"/>
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<arg name="input/image1" value="$(var image_raw1)"/>
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<arg name="input/image2" value="$(var image_raw2)"/>
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<arg name="input/image3" value="$(var image_raw3)"/>
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<arg name="input/image4" value="$(var image_raw4)"/>
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<arg name="input/image5" value="$(var image_raw5)"/>
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<arg name="input/image6" value="$(var image_raw6)"/>
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<arg name="input/image7" value="$(var image_raw7)"/>
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<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
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<arg name="output_clusters" value="roi_cluster/clusters"/>
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<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
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</include>
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<push-ros-namespace namespace="roi_cluster"/>
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<group>
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<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_pointcloud_fusion.launch.xml" if="$(var use_roi_based_cluster)">
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<arg name="input/camera_info0" value="$(var camera_info0)"/>
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<arg name="input/rois0" value="$(var detection_rois0)"/>
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<arg name="input/camera_info1" value="$(var camera_info1)"/>
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<arg name="input/rois1" value="$(var detection_rois1)"/>
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<arg name="input/camera_info2" value="$(var camera_info2)"/>
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<arg name="input/rois2" value="$(var detection_rois2)"/>
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<arg name="input/camera_info3" value="$(var camera_info3)"/>
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<arg name="input/rois3" value="$(var detection_rois3)"/>
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<arg name="input/camera_info4" value="$(var camera_info4)"/>
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<arg name="input/rois4" value="$(var detection_rois4)"/>
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<arg name="input/camera_info5" value="$(var camera_info5)"/>
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<arg name="input/rois5" value="$(var detection_rois5)"/>
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<arg name="input/camera_info6" value="$(var camera_info6)"/>
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<arg name="input/rois6" value="$(var detection_rois6)"/>
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<arg name="input/camera_info7" value="$(var camera_info7)"/>
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<arg name="input/rois7" value="$(var detection_rois7)"/>
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<arg name="input/rois_number" value="$(var image_number)"/>
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<arg name="input/image0" value="$(var image_raw0)"/>
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<arg name="input/image1" value="$(var image_raw1)"/>
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<arg name="input/image2" value="$(var image_raw2)"/>
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<arg name="input/image3" value="$(var image_raw3)"/>
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<arg name="input/image4" value="$(var image_raw4)"/>
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<arg name="input/image5" value="$(var image_raw5)"/>
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<arg name="input/image6" value="$(var image_raw6)"/>
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<arg name="input/image7" value="$(var image_raw7)"/>
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<arg name="input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
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<arg name="output_clusters" value="clusters"/>
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<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
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</include>
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</group>
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</group>
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<!-- simple_cluster_merger -->

‎perception/image_projection_based_fusion/src/fusion_node.cpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -132,7 +132,7 @@ FusionNode<Msg, ObjType, Msg2D>::FusionNode(
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using tier4_autoware_utils::DebugPublisher;
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using tier4_autoware_utils::StopWatch;
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stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
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debug_publisher_ = std::make_unique<DebugPublisher>(this, "image_projection_based_fusion");
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debug_publisher_ = std::make_unique<DebugPublisher>(this, get_name());
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stop_watch_ptr_->tic("cyclic_time");
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stop_watch_ptr_->tic("processing_time");
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}

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