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feat: launch occupancy_grid_map from reaction analyzer's own launch file
Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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tools/reaction_analyzer/launch/reaction_analyzer.launch.xml

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@@ -1,7 +1,17 @@
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<launch>
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<arg name="reaction_analyzer_param_path" default="$(find-pkg-share reaction_analyzer)/param/reaction_analyzer.param.yaml"/>
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<!-- reaction analyzer publishes own perception objects -->
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<arg name="launch_simulator_perception_modules" default="false"/>
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<!-- Arguments for occupancy_grid_map -->
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<arg name="laserscan_based_occupancy_grid_map_param_path" default="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml"/>
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<arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
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<arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
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<!-- running_mode: planning_control or perception_planning -->
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<arg name="running_mode" default="planning_control"/>
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<!-- planning_control or perception_planning -->
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<!-- Essential parameters -->
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<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
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<arg name="vehicle_model" default="sample_vehicle" description="vehicle model name"/>
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<arg name="map_path" value="$(var map_path)"/>
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<arg name="vehicle_model" value="$(var vehicle_model)"/>
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<arg name="sensor_model" value="$(var sensor_model)"/>
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<arg name="launch_simulator_perception_modules" value="false"/>
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<arg name="launch_simulator_perception_modules" value="$(var launch_simulator_perception_modules)"/>
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</include>
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<!-- Occupancy Grid -->
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<push-ros-namespace namespace="occupancy_grid_map"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
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<arg name="input_obstacle_pointcloud" value="true"/>
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<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
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<arg name="output" value="/perception/occupancy_grid_map/map"/>
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<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
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<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
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<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
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<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
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</include>
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</group>
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