|
6 | 6 | <arg name="occupancy_grid_map_updater"/>
|
7 | 7 | <arg name="occupancy_grid_map_updater_param_path"/>
|
8 | 8 | <arg name="pose_initializer_param_path"/>
|
9 |
| - |
| 9 | + <arg name="launch_simulator_perception_modules" default="true"/> |
10 | 10 | <arg name="launch_dummy_perception"/>
|
11 | 11 | <arg name="launch_dummy_vehicle"/>
|
12 | 12 | <arg name="launch_dummy_localization"/>
|
|
26 | 26 |
|
27 | 27 | <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
|
28 | 28 |
|
29 |
| - <group if="$(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> |
34 | 35 |
|
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="$(var sensing/visible_range)"/> |
| 43 | + </include> |
| 44 | + </group> |
58 | 45 |
|
59 |
| - <!-- perception module --> |
60 |
| - <group> |
61 |
| - <push-ros-namespace namespace="perception"/> |
62 |
| - <!-- object recognition --> |
63 |
| - <group if="$(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> |
86 | 59 | </group>
|
87 | 60 |
|
88 |
| - <!-- perception evaluator --> |
| 61 | + <!-- perception module --> |
89 | 62 | <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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml"> |
| 85 | + <arg name="use_vector_map" value="true"/> |
| 86 | + </include> |
| 87 | + </group> |
| 88 | + </group> |
92 | 89 |
|
93 |
| - <!-- publish empty objects instead of object recognition module --> |
94 |
| - <group unless="$(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="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/> |
| 93 | + </group> |
100 | 94 |
|
101 |
| - <group if="$(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="$(var perception/enable_object_recognition)"> |
| 97 | + <push-ros-namespace namespace="object_recognition"/> |
| 98 | + <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen"> |
| 99 | + <remap from="~/output/objects" to="/perception/object_recognition/objects"/> |
| 100 | + </node> |
| 101 | + </group> |
115 | 102 |
|
116 |
| - <!-- traffic light module --> |
117 |
| - <group if="$(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> |
120 | 123 | </group>
|
121 | 124 | </group>
|
122 | 125 |
|
|
0 commit comments