Merge branch 'awf-latest' into feat/keep_distance_back_static_objects_from_start_pose

Author: kyoichi-sugahara

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -37,7 +37,7 @@
   <arg name="image_number" default="1" description="choose image raw number(1-8)"/>
 
   <!-- Jetson AGX -->
-  <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
+  <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
     <arg name="image_raw0" value="$(var image_raw0)"/>
     <arg name="image_raw1" value="$(var image_raw1)"/>
     <arg name="image_raw2" value="$(var image_raw2)"/>

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -46,10 +46,11 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
           <arg name="input/camera_info" value="$(var input/camera_info)"/>
-          <arg name="min_timestamp_offset" value="-0.3"/>
           <arg name="expect/rois" value="expect/rois"/>
           <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
-          <arg name="output/camera_info" value="camera_info"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.3"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
         </include>
       </group>
 
@@ -100,10 +101,11 @@
         <push-ros-namespace namespace="detection"/>
         <include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
           <arg name="input/camera_info" value="$(var input/camera_info)"/>
-          <arg name="min_timestamp_offset" value="-0.04"/>
           <arg name="expect/rois" value="expect/rois"/>
           <arg name="output/rois" value="$(var map_based_detector_output_topic)"/>
-          <arg name="output/camera_info" value="camera_info"/>
+          <!-- This parameter should be configured differently for each camera considering their delay. -->
+          <arg name="min_timestamp_offset" value="-0.04"/>
+          <arg name="max_timestamp_offset" value="0.0"/>
         </include>
       </group>
 

perception/object_velocity_splitter/src/object_velocity_splitter_node/object_velocity_splitter_node.cpp

@@ -53,7 +53,7 @@ ObjectVelocitySplitterNode::ObjectVelocitySplitterNode(const rclcpp::NodeOptions
     std::bind(&ObjectVelocitySplitterNode::onSetParam, this, std::placeholders::_1));
 
   // Node Parameter
-  node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold", 3.0);
+  node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold");
 
   // Subscriber
   sub_objects_ = create_subscription<DetectedObjects>(

perception/radar_crossing_objects_noise_filter/src/radar_crossing_objects_noise_filter_node/radar_crossing_objects_noise_filter_node.cpp

@@ -64,8 +64,8 @@ RadarCrossingObjectsNoiseFilterNode::RadarCrossingObjectsNoiseFilterNode(
     std::bind(&RadarCrossingObjectsNoiseFilterNode::onSetParam, this, std::placeholders::_1));
 
   // Node Parameter
-  node_param_.angle_threshold = declare_parameter<double>("angle_threshold", 1.0472);
-  node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold", 3.0);
+  node_param_.angle_threshold = declare_parameter<double>("angle_threshold");
+  node_param_.velocity_threshold = declare_parameter<double>("velocity_threshold");
 
   // Subscriber
   sub_objects_ = create_subscription<DetectedObjects>(

perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node/radar_tracks_msgs_converter_node.cpp

@@ -78,13 +78,12 @@ RadarTracksMsgsConverterNode::RadarTracksMsgsConverterNode(const rclcpp::NodeOpt
     std::bind(&RadarTracksMsgsConverterNode::onSetParam, this, _1));
 
   // Node Parameter
-  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz", 20.0);
-  node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id", "base_link");
-  node_param_.use_twist_compensation = declare_parameter<bool>("use_twist_compensation", false);
-  node_param_.use_twist_yaw_compensation =
-    declare_parameter<bool>("use_twist_yaw_compensation", false);
+  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz");
+  node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id");
+  node_param_.use_twist_compensation = declare_parameter<bool>("use_twist_compensation");
+  node_param_.use_twist_yaw_compensation = declare_parameter<bool>("use_twist_yaw_compensation");
   node_param_.static_object_speed_threshold =
-    declare_parameter<float>("static_object_speed_threshold", 1.0);
+    declare_parameter<float>("static_object_speed_threshold");
 
   // Subscriber
   sub_radar_ = create_subscription<RadarTracks>(

perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp

@@ -80,9 +80,9 @@ SimpleObjectMergerNode::SimpleObjectMergerNode(const rclcpp::NodeOptions & node_
     std::bind(&SimpleObjectMergerNode::onSetParam, this, std::placeholders::_1));
 
   // Node Parameter
-  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz", 20.0);
-  node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id", "base_link");
-  node_param_.timeout_threshold = declare_parameter<double>("timeout_threshold", 0.1);
+  node_param_.update_rate_hz = declare_parameter<double>("update_rate_hz");
+  node_param_.new_frame_id = declare_parameter<std::string>("new_frame_id");
+  node_param_.timeout_threshold = declare_parameter<double>("timeout_threshold");
 
   declare_parameter("input_topics", std::vector<std::string>());
   node_param_.topic_names = get_parameter("input_topics").as_string_array();