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| map_projector_info_path | std::string | A path to map_projector_info.yaml (used by default) |
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| lanelet2_map_path | std::string | A path to lanelet2 map (used only when `map_projector_info_path` does not exist) |
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Note that these parameters are assumed to be passed from launch arguments, and it is not recommended to directly write them in `map_projection_loader.param.yaml`.
Copy file name to clipboardexpand all lines: perception/image_projection_based_fusion/README.md
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E.g, if the postprocessing time is around 50ms, the timeout threshold should be set smaller than 50ms, so that the whole processing time could be less than 100ms.
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current default value at autoware.universe for XX1: - timeout_ms: 50.0
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#### The `build_only` option
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The `pointpainting_fusion` node has `build_only` option to build the TensorRT engine file from the ONNX file.
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Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
The rclcpp::TimerBase timer could not break a for loop, therefore even if time is out when fusing a roi msg at the middle, the program will run until all msgs are fused.
Copy file name to clipboardexpand all lines: perception/map_based_prediction/config/map_based_prediction.param.yaml
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use_vehicle_acceleration: false # whether to consider current vehicle acceleration when predicting paths or not
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speed_limit_multiplier: 1.5# When using vehicle acceleration. Set vehicle's maximum predicted speed as the legal speed limit in that lanelet times this value
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acceleration_exponential_half_life: 2.5# [s] When using vehicle acceleration. The decaying acceleration model considers that the current vehicle acceleration will be halved after this many seconds
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