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chore(tier4_perception_launch): perception launcher refactoring #7194
chore(tier4_perception_launch): perception launcher refactoring #7194
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I think it would be beneficial to avoid using default values in lower-level launch files.
To be specific:
- tier4_perception_component.launch.xml: Define parameters that are likely to change here, in this central launch file.
- perception.launch.xml: Avoid using default arguments. Only parameters that are difficult to specify in tier4_perception_component.launch.xml should be provided here.
- Subsequent Launch Files: Avoid using default arguments in launch files called from perception.launch.xml
This is just my suggestion. What are your thoughts on this approach?
@miursh |
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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
chore: simplify mode check Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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Thanks! LGTM
* fix: reorder object merger launchers Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: separate detection by tracker launch Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: refactor tracking launch Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: input pointcloud topic names, mot input channels Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * feat: separate filters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: object validator to modular Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: implement filters on mergers Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix lidar only mode chore: simplify mode check Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: fix a bug when use_radar_tracking_fusion is fault Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: rename radar detector to filter Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Description
The perception has many launch options, such as
perception_mode
,lidar_detection_model
,use_*
, and so on.As result, it is very difficult to trace the perception pipeline, such as which SW component is used, which topic is published from where.
Structure of the perception launch style
Module update
Tests performed
Manually tested in a local environment with the following variants.
Effects on system behavior
Not applicable.
Interface changes
Not applicable.
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