Skip to content

Commit 59c504b

Browse files
brkay54brkay54
authored
feat(tier4_simulator_launch): add option to disable all perception related modules (#6382)
Signed-off-by: Berkay Karaman <brkay54@gmail.com>
1 parent b6cd8f4 commit 59c504b

File tree

1 file changed

+87
-84
lines changed

1 file changed

+87
-84
lines changed

‎launch/tier4_simulator_launch/launch/simulator.launch.xml

+87-84
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
66
<arg name="occupancy_grid_map_updater"/>
77
<arg name="occupancy_grid_map_updater_param_path"/>
88
<arg name="pose_initializer_param_path"/>
9-
9+
<arg name="launch_simulator_perception_modules" default="true"/>
1010
<arg name="launch_dummy_perception"/>
1111
<arg name="launch_dummy_vehicle"/>
1212
<arg name="launch_dummy_localization"/>
@@ -26,97 +26,100 @@
2626

2727
<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
2828

29-
<group if="$(var scenario_simulation)">
30-
<include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
31-
<arg name="config_file" value="$(var fault_injection_param_path)"/>
32-
</include>
33-
</group>
29+
<group if="$(var launch_simulator_perception_modules)">
30+
<group if="$(var scenario_simulation)">
31+
<include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
32+
<arg name="config_file" value="$(var fault_injection_param_path)"/>
33+
</include>
34+
</group>
3435

35-
<!-- Dummy Perception -->
36-
<group if="$(var launch_dummy_perception)">
37-
<include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
38-
<arg name="real" value="$(var perception/enable_detection_failure)"/>
39-
<arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
40-
<arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
41-
<arg name="visible_range" value="$(var sensing/visible_range)"/>
42-
</include>
43-
</group>
44-
<group unless="$(var scenario_simulation)">
45-
<!-- Occupancy Grid -->
46-
<push-ros-namespace namespace="occupancy_grid_map"/>
47-
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
48-
<arg name="input_obstacle_pointcloud" value="true"/>
49-
<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
50-
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
51-
<arg name="output" value="/perception/occupancy_grid_map/map"/>
52-
<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
53-
<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
54-
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
55-
<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
56-
</include>
57-
</group>
36+
<!-- Dummy Perception -->
37+
<group if="$(var launch_dummy_perception)">
38+
<include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
39+
<arg name="real" value="$(var perception/enable_detection_failure)"/>
40+
<arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
41+
<arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
42+
<arg name="visible_range" value="$(var sensing/visible_range)"/>
43+
</include>
44+
</group>
5845

59-
<!-- perception module -->
60-
<group>
61-
<push-ros-namespace namespace="perception"/>
62-
<!-- object recognition -->
63-
<group if="$(var perception/enable_object_recognition)">
64-
<push-ros-namespace namespace="object_recognition"/>
65-
<!-- tracking module -->
66-
<group>
67-
<push-ros-namespace namespace="tracking"/>
68-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
69-
<arg
70-
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
71-
value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
72-
/>
73-
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
74-
<arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
75-
<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
76-
<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
77-
</include>
78-
</group>
79-
<!-- prediction module -->
80-
<group>
81-
<push-ros-namespace namespace="prediction"/>
82-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
83-
<arg name="use_vector_map" value="true"/>
84-
</include>
85-
</group>
46+
<group unless="$(var scenario_simulation)">
47+
<!-- Occupancy Grid -->
48+
<push-ros-namespace namespace="occupancy_grid_map"/>
49+
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
50+
<arg name="input_obstacle_pointcloud" value="true"/>
51+
<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
52+
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
53+
<arg name="output" value="/perception/occupancy_grid_map/map"/>
54+
<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
55+
<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
56+
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
57+
<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
58+
</include>
8659
</group>
8760

88-
<!-- perception evaluator -->
61+
<!-- perception module -->
8962
<group>
90-
<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
91-
</group>
63+
<push-ros-namespace namespace="perception"/>
64+
<!-- object recognition -->
65+
<group if="$(var perception/enable_object_recognition)">
66+
<push-ros-namespace namespace="object_recognition"/>
67+
<!-- tracking module -->
68+
<group>
69+
<push-ros-namespace namespace="tracking"/>
70+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
71+
<arg
72+
name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
73+
value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
74+
/>
75+
<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
76+
<arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
77+
<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
78+
<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
79+
</include>
80+
</group>
81+
<!-- prediction module -->
82+
<group>
83+
<push-ros-namespace namespace="prediction"/>
84+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
85+
<arg name="use_vector_map" value="true"/>
86+
</include>
87+
</group>
88+
</group>
9289

93-
<!-- publish empty objects instead of object recognition module -->
94-
<group unless="$(var perception/enable_object_recognition)">
95-
<push-ros-namespace namespace="object_recognition"/>
96-
<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
97-
<remap from="~/output/objects" to="/perception/object_recognition/objects"/>
98-
</node>
99-
</group>
90+
<!-- perception evaluator -->
91+
<group>
92+
<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
93+
</group>
10094

101-
<group if="$(var perception/enable_elevation_map)">
102-
<push-ros-namespace namespace="obstacle_segmentation/elevation_map"/>
103-
<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
104-
<remap from="output/elevation_map" to="map"/>
105-
<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
106-
<remap from="input/vector_map" to="/map/vector_map"/>
107-
<param name="use_lane_filter" value="false"/>
108-
<param name="use_inpaint" value="true"/>
109-
<param name="inpaint_radius" value="1.0"/>
110-
<param name="param_file_path" value="$(var obstacle_segmentation_ground_segmentation_elevation_map_param_path)"/>
111-
<param name="elevation_map_directory" value="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
112-
<param name="use_elevation_map_cloud_publisher" value="false"/>
113-
</node>
114-
</group>
95+
<!-- publish empty objects instead of object recognition module -->
96+
<group unless="$(var perception/enable_object_recognition)">
97+
<push-ros-namespace namespace="object_recognition"/>
98+
<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
99+
<remap from="~/output/objects" to="/perception/object_recognition/objects"/>
100+
</node>
101+
</group>
115102

116-
<!-- traffic light module -->
117-
<group if="$(var perception/enable_traffic_light)">
118-
<push-ros-namespace namespace="traffic_light_recognition"/>
119-
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
103+
<group if="$(var perception/enable_elevation_map)">
104+
<push-ros-namespace namespace="obstacle_segmentation/elevation_map"/>
105+
<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
106+
<remap from="output/elevation_map" to="map"/>
107+
<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
108+
<remap from="input/vector_map" to="/map/vector_map"/>
109+
<param name="use_lane_filter" value="false"/>
110+
<param name="use_inpaint" value="true"/>
111+
<param name="inpaint_radius" value="1.0"/>
112+
<param name="param_file_path" value="$(var obstacle_segmentation_ground_segmentation_elevation_map_param_path)"/>
113+
<param name="elevation_map_directory" value="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
114+
<param name="use_elevation_map_cloud_publisher" value="false"/>
115+
</node>
116+
</group>
117+
118+
<!-- traffic light module -->
119+
<group if="$(var perception/enable_traffic_light)">
120+
<push-ros-namespace namespace="traffic_light_recognition"/>
121+
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
122+
</group>
120123
</group>
121124
</group>
122125

0 commit comments

Comments
 (0)