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chore: refactor perception.launch.xml
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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launch/tier4_perception_launch/launch/perception.launch.xml

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/>
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<!-- Downsample pointcloud for perception usage -->
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<arg name="downsample_input_pointcloud" default="false"/>
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<arg name="downsample_voxel_size" default="0.05"/>
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<let name="downsampled_pointcloud" value="/perception/common/pointcloud"/>
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<let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_input_pointcloud)"/>
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<let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_input_pointcloud)"/>
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<group if="$(var downsample_input_pointcloud)">
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<load_composable_node target="$(var pointcloud_container_name)">
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="perception_input_pc_downsample_node" namespace="">
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<remap from="input" to="$(var input/pointcloud)"/>
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<remap from="output" to="$(var downsampled_pointcloud)"/>
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<param name="voxel_size_x" value="$(var downsample_voxel_size)"/>
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<param name="voxel_size_y" value="$(var downsample_voxel_size)"/>
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<param name="voxel_size_z" value="$(var downsample_voxel_size)"/>
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<extra_arg name="use_intra_process_comms" value="true"/>
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</composable_node>
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</load_composable_node>
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</group>
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<arg name="downsample_perception_common_pointcloud" default="false"/>
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<arg name="common_downsample_voxel_size_x" default="0.05"/>
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<arg name="common_downsample_voxel_size_y" default="0.05"/>
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<arg name="common_downsample_voxel_size_z" default="0.05"/>
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<!-- Perception module -->
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<group>
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<push-ros-namespace namespace="perception"/>
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<!-- Perception common preprocess -->
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<let name="downsampled_pointcloud" value="/perception/common/pointcloud"/>
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<let name="perception_pointcloud" value="$(var input/pointcloud)" unless="$(var downsample_input_pointcloud)"/>
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<let name="perception_pointcloud" value="$(var downsampled_pointcloud)" if="$(var downsample_input_pointcloud)"/>
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<group if="$(var downsample_input_pointcloud)">
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<push-ros-namespace namespace="common"/>
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<load_composable_node target="$(var pointcloud_container_name)">
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<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::PickupBasedVoxelGridDownsampleFilterComponent" name="pointcloud_downsample_node" namespace="">
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<remap from="input" to="$(var input/pointcloud)"/>
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<remap from="output" to="$(var downsampled_pointcloud)"/>
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<param name="voxel_size_x" value="$(var common_downsample_voxel_size_x)"/>
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<param name="voxel_size_y" value="$(var common_downsample_voxel_size_y)"/>
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<param name="voxel_size_z" value="$(var common_downsample_voxel_size_z)"/>
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<extra_arg name="use_intra_process_comms" value="true"/>
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</composable_node>
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</load_composable_node>
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</group>
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<!-- Object segmentation module -->
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<group>

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