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feat(tier4_perception_launch): downsample perception input pointcloud #6886

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merged 6 commits into from
May 13, 2024
Merged

feat(tier4_perception_launch): downsample perception input pointcloud #6886

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42caf95
feat: downsample perception input pointcloud
YoshiRi Apr 25, 2024
c77bb73
fix: add group if to switch downsample node
YoshiRi Apr 26, 2024
ca654d2
fix: add test and exec depend
YoshiRi Apr 26, 2024
961407c
Update launch/tier4_perception_launch/launch/perception.launch.xml
YoshiRi Apr 27, 2024
413f066
Merge branch 'main' into feat/downsapmple_perception_input_pointclouds
YoshiRi May 9, 2024
d07ee84
chore: refactor perception.launch.xml
YoshiRi May 13, 2024
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29 changes: 26 additions & 3 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -121,9 +121,32 @@
description="if use_radar_tracking_fusion:=true, radar information is merged in tracking launch. Otherwise, radar information is merged in detection launch."
/>

<!-- Downsample pointcloud for perception usage -->
<arg name="downsample_perception_common_pointcloud" default="false"/>
<arg name="common_downsample_voxel_size_x" default="0.05"/>
<arg name="common_downsample_voxel_size_y" default="0.05"/>
<arg name="common_downsample_voxel_size_z" default="0.05"/>

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

<!-- Object segmentation module -->
<group>
Expand All @@ -133,7 +156,7 @@
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
</include>
</group>

Expand All @@ -142,7 +165,7 @@
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud"/>
<arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
<arg name="input/raw_pointcloud" value="$(var perception_pointcloud)"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
Expand All @@ -162,7 +185,7 @@
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
<arg name="mode" value="$(var mode)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="input/pointcloud" value="$(var perception_pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
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