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feat(lidar_apollo_instance_segmentation): add build_only option #6454

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Feb 20, 2024
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feat(lidar_apollo_instance_segmentation): add build_only option #6454

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1 change: 1 addition & 0 deletions perception/lidar_apollo_instance_segmentation/README.md
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Expand Up @@ -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

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4 changes: 4 additions & 0 deletions ...n/lidar_apollo_instance_segmentation/launch/lidar_apollo_instance_segmentation.launch.xml
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Expand Up @@ -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"/>
Expand All @@ -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>
5 changes: 5 additions & 0 deletions perception/lidar_apollo_instance_segmentation/src/detector.cpp
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Expand Up @@ -48,6 +48,11 @@
return;
}

if (node_->declare_parameter("build_only", false)) {
RCLCPP_INFO(node_->get_logger(), "TensorRT engine is built and shutdown node.");
rclcpp::shutdown();

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Added lines #L51 - L53 were not covered by tests
}

// GPU memory allocation
const auto input_dims = trt_common_->getBindingDimensions(0);
const auto input_size =
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