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‎perception/detected_object_validation/config/occupancy_grid_based_validator.param.yaml

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ros__parameters:
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mean_threshold: 0.6
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enable_debug: false
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‎perception/detected_object_validation/launch/object_lanelet_filter.launch.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml" />
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<arg name="vector_map_topic" default="/map/vector_map" />
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<arg name="input/object" default="in_objects" />
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<arg name="output/object" default="out_objects" />
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<node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen">
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<remap from="input/vector_map" to="$(var vector_map_topic)" />
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<remap from="input/object" to="$(var input/object)" />
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<remap from="output/object" to="$(var output/object)" />
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<param from="$(var object_lanelet_filter_param_file)" />
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</node>
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<arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
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<arg name="vector_map_topic" default="/map/vector_map"/>
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<arg name="input/object" default="in_objects"/>
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<arg name="output/object" default="out_objects"/>
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<node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen">
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<remap from="input/vector_map" to="$(var vector_map_topic)"/>
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<remap from="input/object" to="$(var input/object)"/>
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<remap from="output/object" to="$(var output/object)"/>
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<param from="$(var object_lanelet_filter_param_file)"/>
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</node>
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</launch>

‎perception/detected_object_validation/launch/object_position_filter.launch.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml" />
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<arg name="input/object" default="in_objects" />
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<arg name="output/object" default="out_objects" />
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<node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen">
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<remap from="input/object" to="$(var input/object)" />
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<remap from="output/object" to="$(var output/object)" />
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<param from="$(var object_position_filter_param_file)" />
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</node>
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<arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/>
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<arg name="input/object" default="in_objects"/>
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<arg name="output/object" default="out_objects"/>
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<node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen">
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<remap from="input/object" to="$(var input/object)"/>
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<remap from="output/object" to="$(var output/object)"/>
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<param from="$(var object_position_filter_param_file)"/>
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</node>
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</launch>

‎perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml" />
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<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" />
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<arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud" />
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<arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects" />
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<node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen">
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<remap from="~/input/detected_objects" to="$(var input/detected_objects)" />
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<remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)" />
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<remap from="~/output/objects" to="$(var output/objects)" />
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<param from="$(var obstacle_pointcloud_based_validator_param_file)" />
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</node>
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<arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml"/>
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<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/>
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<arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
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<arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects"/>
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<node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen">
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<remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
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<remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/>
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<remap from="~/output/objects" to="$(var output/objects)"/>
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<param from="$(var obstacle_pointcloud_based_validator_param_file)"/>
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</node>
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</launch>

‎perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml

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<?xml version="1.0" encoding="UTF-8"?>
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<launch>
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<arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml" />
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<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" />
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<arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects" />
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<arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan" />
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<arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map" />
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<arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml" />
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<arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml" />
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<node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
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<remap from="~/input/laserscan" to="$(var input/laserscan)" />
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<remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)" />
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<param name="input_obstacle_pointcloud" value="false" />
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<param name="input_obstacle_and_raw_pointcloud" value="false" />
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<param name="updater_type" value="binary_bayes_filter" />
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<param from="$(var occupancy_grid_map_param_path)" />
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<param from="$(var occupancy_grid_map_updater_param_path)" />
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</node>
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<node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen">
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<remap from="~/input/detected_objects" to="$(var input/detected_objects)" />
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<remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)" />
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<remap from="~/output/objects" to="$(var output/objects)" />
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<param from="$(var occupancy_grid_based_validator_param_file)" />
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</node>
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<arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml"/>
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<arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/>
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<arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects"/>
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<arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan"/>
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<arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map"/>
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<arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/>
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<arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/>
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<node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen">
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<remap from="~/input/laserscan" to="$(var input/laserscan)"/>
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<remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/>
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<param name="input_obstacle_pointcloud" value="false"/>
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<param name="input_obstacle_and_raw_pointcloud" value="false"/>
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<param name="updater_type" value="binary_bayes_filter"/>
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<param from="$(var occupancy_grid_map_param_path)"/>
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<param from="$(var occupancy_grid_map_updater_param_path)"/>
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</node>
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<node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen">
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<remap from="~/input/detected_objects" to="$(var input/detected_objects)"/>
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<remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/>
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<remap from="~/output/objects" to="$(var output/objects)"/>
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<param from="$(var occupancy_grid_based_validator_param_file)"/>
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</node>
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</launch>

‎perception/detected_object_validation/schema/occupancy_grid_based_validator.schema.json

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"description": "Whether to display debug images or not?"
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}
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},
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"required": [
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"mean_threshold",
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"enable_debug"
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],
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"required": ["mean_threshold", "enable_debug"],
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"additionalProperties": false
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}
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},

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