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takayuki5168takayuki5168
authoredMar 2, 2022
feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simulator.launch.xml (#465)
* feat(tier4_simulator_launch, dummy_perception_publisher): launch perception modules from simualtor.launch.xml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove perception launching dummy_perception_publisher.launch.xml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove unnecessary comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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0.41.20.38.0
1 parent 4bff484 commit e5ae6ae

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-39
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‎launch/tier4_simulator_launch/launch/simulator.launch.xml

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Original file line numberDiff line numberDiff line change
@@ -4,7 +4,8 @@
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<arg name="vehicle_info_param_file" />
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<arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
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<arg name="perception/enable_object_recognition" default="false" description="enable object recognition when using dummy perception"/>
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<arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
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<arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
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<arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
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<arg name="vehicle_model" description="vehicle model name"/>
@@ -25,6 +26,46 @@
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</include>
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</group>
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<!-- perception module -->
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<group>
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<push-ros-namespace namespace="perception"/>
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<!-- object recognition -->
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<group if="$(var perception/enable_object_recognition)">
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<push-ros-namespace namespace="object_recognition"/>
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<!-- tracking module -->
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<group>
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<push-ros-namespace namespace="tracking"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
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</include>
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</group>
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<!-- prediction module -->
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<group>
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<push-ros-namespace namespace="prediction"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
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<arg name="use_vector_map" value="true" />
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</include>
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</group>
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</group>
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<!-- object segmentation module -->
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<group>
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<push-ros-namespace namespace="occupancy_grid_map"/>
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<!-- Occupancy Grid -->
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<include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
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<arg name="input_obstacle_pointcloud" value="true" />
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<arg name="input_obstacle_and_raw_pointcloud" value="false" />
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
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<arg name="output" value="/perception/occupancy_grid_map/map" />
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</include>
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</group>
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<!-- traffic light module -->
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<group if="$(var perception/enable_traffic_light)">
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<push-ros-namespace namespace="traffic_light_recognition"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
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</group>
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</group>
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<!-- Simulator model -->
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<group if="$(var launch_dummy_vehicle)">
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<arg name="simulator_model" default="$(var vehicle_model_pkg)/config/simulator_model.param.yaml" description="path to the file of simulator model"/>

‎simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml

+1-38
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,6 @@
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<arg name="visible_range" default="300.0" />
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<arg name="real" default="true" />
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<arg name="use_object_recognition" default="true" />
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<arg name="use_traffic_light_recognition" default="false" />
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<group>
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<push-ros-namespace namespace="simulation"/>
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<!-- perception module -->
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<group>
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<push-ros-namespace namespace="perception"/>
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<!-- object segmentation module -->
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<group>
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<push-ros-namespace namespace="occupancy_grid_map"/>
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<!-- Occupancy Grid -->
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<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
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<arg name="input_obstacle_pointcloud" value="true" />
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<arg name="input_obstacle_and_raw_pointcloud" value="false" />
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
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<arg name="output" value="/perception/occupancy_grid_map/map" />
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</include>
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</group>
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<!-- object recognition module -->
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<group if="$(var use_object_recognition)">
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<push-ros-namespace namespace="object_recognition"/>
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<!-- detection module -->
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<!-- tracking module -->
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<group>
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<push-ros-namespace namespace="tracking"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
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</include>
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</group>
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<!-- prediction module -->
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<group>
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<push-ros-namespace namespace="prediction"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
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<arg name="use_vector_map" value="true" />
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</include>
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</group>
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</group>
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<!-- publish empty objects instead of object recognition module -->
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<group unless="$(var use_object_recognition)">
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<push-ros-namespace namespace="object_recognition"/>
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<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
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<remap from="~/output/objects" to="/perception/object_recognition/objects" />
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</node>
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</group>
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<!-- traffic light module -->
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<group if="$(var use_traffic_light_recognition)">
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<push-ros-namespace namespace="traffic_light_recognition"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
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</group>
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</group>
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</launch>

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