From 7448c1f4126b93f8c092471934929efd90533c63 Mon Sep 17 00:00:00 2001
From: kosuke55 <kosuke.tnp@gmail.com>
Date: Tue, 20 Feb 2024 01:56:13 +0900
Subject: [PATCH] feat(lidar_apollo_instance_segmentation): add build_only
 option

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
---
 perception/lidar_apollo_instance_segmentation/README.md      | 1 +
 .../launch/lidar_apollo_instance_segmentation.launch.xml     | 4 ++++
 .../lidar_apollo_instance_segmentation/src/detector.cpp      | 5 +++++
 3 files changed, 10 insertions(+)

diff --git a/perception/lidar_apollo_instance_segmentation/README.md b/perception/lidar_apollo_instance_segmentation/README.md
index 2d86b695d2474..f9dc6b3f44a23 100644
--- a/perception/lidar_apollo_instance_segmentation/README.md
+++ b/perception/lidar_apollo_instance_segmentation/README.md
@@ -47,6 +47,7 @@ None
 | `use_constant_feature`  | bool   | false                | The flag to use direction and distance feature of pointcloud.                      |
 | `target_frame`          | string | "base_link"          | Pointcloud data is transformed into this frame.                                    |
 | `z_offset`              | int    | 2                    | z offset from target frame. [m]                                                    |
+| `build_only`            | bool   | `false`              | shutdown the node after TensorRT engine file is built                              |
 
 ## Assumptions / Known limits
 
diff --git a/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml b/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
index 7f5024929b531..207dac45671dd 100644
--- a/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
+++ b/perception/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
@@ -2,6 +2,7 @@
   <arg name="input/pointcloud" default="/sensing/lidar/pointcloud"/>
   <arg name="model" default="model_128"/>
   <arg name="output/objects" default="labeled_clusters"/>
+  <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <arg if="$(eval &quot;'$(var model)'=='model_16'&quot;)" name="base_name" default="vlp-16"/>
   <arg if="$(eval &quot;'$(var model)'=='model_64'&quot;)" name="base_name" default="hdl-64"/>
@@ -24,5 +25,8 @@
     <param name="precision" value="$(var precision)"/>
     <param name="target_frame" value="$(var target_frame)"/>
     <param from="$(var param_file)"/>
+
+    <!-- This parameter shall NOT be included in param file. -->
+    <param name="build_only" value="$(var build_only)"/>
   </node>
 </launch>
diff --git a/perception/lidar_apollo_instance_segmentation/src/detector.cpp b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
index 5da7825f96681..236f0998ab21f 100644
--- a/perception/lidar_apollo_instance_segmentation/src/detector.cpp
+++ b/perception/lidar_apollo_instance_segmentation/src/detector.cpp
@@ -48,6 +48,11 @@ LidarApolloInstanceSegmentation::LidarApolloInstanceSegmentation(rclcpp::Node *
     return;
   }
 
+  if (node_->declare_parameter("build_only", false)) {
+    RCLCPP_INFO(node_->get_logger(), "TensorRT engine is built and shutdown node.");
+    rclcpp::shutdown();
+  }
+
   // GPU memory allocation
   const auto input_dims = trt_common_->getBindingDimensions(0);
   const auto input_size =