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feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable #9733

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merged 1 commit into from
Dec 24, 2024
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feat(autoware_object_merger, autoware_tracking_object_merger): enable anonymized node names to be configurable #9733

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2 changes: 2 additions & 0 deletions ...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
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Expand Up @@ -120,6 +120,7 @@
<!-- 1st merger: camera_lidar_fusion + lidar cluster-->
<group>
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_alpha"/>
<arg name="input/object0" value="$(var merger1/input/objects0)"/>
<arg name="input/object1" value="$(var merger1/input/objects1)"/>
<arg name="output/object" value="$(var merger1/output/objects)"/>
Expand All @@ -132,6 +133,7 @@
<!-- 2nd merger: + detection_by_tracker -->
<group if="$(var use_detection_by_tracker)">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_beta"/>
<arg name="input/object0" value="$(var merger2/input/objects0)"/>
<arg name="input/object1" value="$(var merger2/input/objects1)"/>
<arg name="output/object" value="$(var merger2/output/objects)"/>
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3 changes: 3 additions & 0 deletions ...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
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Expand Up @@ -143,6 +143,7 @@
<!-- 1st merger -->
<group>
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_alpha"/>
<arg name="input/object0" value="$(var merger1/input/objects0)"/>
<arg name="input/object1" value="$(var merger1/input/objects1)"/>
<arg name="output/object" value="$(var merger1/output/objects)"/>
Expand All @@ -155,6 +156,7 @@
<!-- 2nd merger: + detection_by_tracker -->
<group if="$(var use_detection_by_tracker)">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_beta"/>
<arg name="input/object0" value="$(var merger2/input/objects0)"/>
<arg name="input/object1" value="$(var merger2/input/objects1)"/>
<arg name="output/object" value="$(var merger2/output/objects)"/>
Expand All @@ -178,6 +180,7 @@
Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
<group unless="$(var use_radar_tracking_fusion)">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_gamma"/>
<arg name="input/object0" value="$(var merger3/input/objects0)"/>
<arg name="input/object1" value="$(var merger3/input/objects1)"/>
<arg name="output/object" value="$(var merger3/output/objects)"/>
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2 changes: 2 additions & 0 deletions ...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
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Expand Up @@ -58,6 +58,7 @@
<!-- 1st merger: ML detection + pointcloud cluster -->
<group>
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_alpha"/>
<arg name="input/object0" value="$(var merger1/input/objects0)"/>
<arg name="input/object1" value="$(var merger1/input/objects1)"/>
<arg name="output/object" value="$(var merger1/output/objects)"/>
Expand All @@ -70,6 +71,7 @@
<!-- 2nd merger: + detection_by_tracker -->
<group if="$(var use_detection_by_tracker)">
<include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
<arg name="node_name" value="object_association_merger_beta"/>
<arg name="input/object0" value="$(var merger2/input/objects0)"/>
<arg name="input/object1" value="$(var merger2/input/objects1)"/>
<arg name="output/object" value="$(var merger2/output/objects)"/>
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1 change: 1 addition & 0 deletions launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
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Expand Up @@ -57,6 +57,7 @@

<!-- tracking object merger to merge near objects and far objects -->
<include file="$(find-pkg-share autoware_tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
<arg name="node_name" value="decorative_tracker_merger"/>
<arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
<arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
<arg name="output" value="$(var tracker_merger/output/objects)"/>
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3 changes: 2 additions & 1 deletion perception/autoware_object_merger/launch/object_association_merger.launch.xml
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@@ -1,5 +1,6 @@
<?xml version="1.0"?>
<launch>
<arg name="node_name" default="$(anon object_association_merger)"/>
<arg name="input/object0" default="object0"/>
<arg name="input/object1" default="object1"/>
<arg name="output/object" default="merged_object"/>
Expand All @@ -8,7 +9,7 @@
<arg name="distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
<arg name="object_association_merger_param_path" default="$(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml"/>

<node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
<node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(var node_name)" output="screen">
<remap from="input/object0" to="$(var input/object0)"/>
<remap from="input/object1" to="$(var input/object1)"/>
<remap from="output/object" to="$(var output/object)"/>
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3 changes: 2 additions & 1 deletion perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
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@@ -1,13 +1,14 @@
<?xml version="1.0"?>
<launch>
<arg name="node_name" default="$(anon decorative_tracker_merger)"/>
<arg name="input/main_object" default="main_object"/>
<arg name="input/sub_object" default="sub_object"/>
<arg name="output" default="merged_object"/>
<arg name="data_association_matrix_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/data_association_matrix.param.yaml"/>
<arg name="merge_options_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
<arg name="node_param_file_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>

<node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
<node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(var node_name)" output="screen">
<remap from="input/main_object" to="$(var input/main_object)"/>
<remap from="input/sub_object" to="$(var input/sub_object)"/>
<remap from="output/object" to="$(var output)"/>
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