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feat(tier4_simulator_launch): add option to disable all perception related modules (autowarefoundation#6382)
Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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‎launch/tier4_simulator_launch/launch/simulator.launch.xml

+87-84
Original file line numberDiff line numberDiff line change
@@ -6,7 +6,7 @@
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<arg name="occupancy_grid_map_updater"/>
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<arg name="occupancy_grid_map_updater_param_path"/>
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<arg name="pose_initializer_param_path"/>
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<arg name="launch_simulator_perception_modules" default="true"/>
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<arg name="launch_dummy_perception"/>
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<arg name="launch_dummy_vehicle"/>
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<arg name="launch_dummy_localization"/>
@@ -27,97 +27,100 @@
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<let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
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<group if="$(var scenario_simulation)">
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<include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
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<arg name="config_file" value="$(var fault_injection_param_path)"/>
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</include>
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</group>
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<group if="$(var launch_simulator_perception_modules)">
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<group if="$(var scenario_simulation)">
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<include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
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<arg name="config_file" value="$(var fault_injection_param_path)"/>
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</include>
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</group>
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<!-- Dummy Perception -->
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<group if="$(var launch_dummy_perception)">
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<include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
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<arg name="real" value="$(var perception/enable_detection_failure)"/>
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<arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
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<arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
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<arg name="visible_range" value="$(var sensing/visible_range)"/>
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</include>
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</group>
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<group unless="$(var scenario_simulation)">
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<!-- Occupancy Grid -->
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<push-ros-namespace namespace="occupancy_grid_map"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
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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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<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
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<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
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<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
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<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
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</include>
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</group>
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<!-- Dummy Perception -->
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<group if="$(var launch_dummy_perception)">
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<include file="$(find-pkg-share dummy_perception_publisher)/launch/dummy_perception_publisher.launch.xml">
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<arg name="real" value="$(var perception/enable_detection_failure)"/>
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<arg name="use_object_recognition" value="$(var perception/enable_object_recognition)"/>
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<arg name="use_base_link_z" value="$(var perception/use_base_link_z)"/>
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<arg name="visible_range" value="$(var sensing/visible_range)"/>
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</include>
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</group>
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<!-- perception module -->
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<group>
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<push-ros-namespace namespace="perception"/>
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<!-- object recognition -->
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<group if="$(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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
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<arg
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name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
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value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
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/>
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<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
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<arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
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<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
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<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
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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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
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<arg name="use_vector_map" value="true"/>
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</include>
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</group>
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<group unless="$(var scenario_simulation)">
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<!-- Occupancy Grid -->
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<push-ros-namespace namespace="occupancy_grid_map"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
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<arg name="input_obstacle_pointcloud" value="true"/>
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<arg name="input_obstacle_and_raw_pointcloud" value="false"/>
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<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
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<arg name="output" value="/perception/occupancy_grid_map/map"/>
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<arg name="occupancy_grid_map_method" value="laserscan_based_occupancy_grid_map"/>
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<arg name="occupancy_grid_map_param_path" value="$(var laserscan_based_occupancy_grid_map_param_path)"/>
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<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
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<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
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</include>
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</group>
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<!-- perception evaluator -->
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<!-- perception module -->
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<group>
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<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
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</group>
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<push-ros-namespace namespace="perception"/>
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<!-- object recognition -->
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<group if="$(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="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
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<arg
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name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
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value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
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/>
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<arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
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<arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
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<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
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<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
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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 perception/enable_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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<!-- perception evaluator -->
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<group>
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<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
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</group>
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<group if="$(var perception/enable_elevation_map)">
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<push-ros-namespace namespace="obstacle_segmentation/elevation_map"/>
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<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
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<remap from="output/elevation_map" to="map"/>
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<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
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<remap from="input/vector_map" to="/map/vector_map"/>
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<param name="use_lane_filter" value="false"/>
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<param name="use_inpaint" value="true"/>
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<param name="inpaint_radius" value="1.0"/>
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<param name="param_file_path" value="$(var obstacle_segmentation_ground_segmentation_elevation_map_param_path)"/>
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<param name="elevation_map_directory" value="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
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<param name="use_elevation_map_cloud_publisher" value="false"/>
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</node>
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</group>
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<!-- publish empty objects instead of object recognition module -->
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<group unless="$(var perception/enable_object_recognition)">
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<push-ros-namespace namespace="object_recognition"/>
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<node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
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<remap from="~/output/objects" to="/perception/object_recognition/objects"/>
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</node>
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</group>
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<!-- traffic light module -->
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<group if="$(var perception/enable_traffic_light)">
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<push-ros-namespace namespace="traffic_light_recognition"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"/>
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<group if="$(var perception/enable_elevation_map)">
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<push-ros-namespace namespace="obstacle_segmentation/elevation_map"/>
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<node pkg="elevation_map_loader" exec="elevation_map_loader" name="elevation_map_loader" output="screen">
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<remap from="output/elevation_map" to="map"/>
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<remap from="input/pointcloud_map" to="/map/pointcloud_map"/>
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<remap from="input/vector_map" to="/map/vector_map"/>
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<param name="use_lane_filter" value="false"/>
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<param name="use_inpaint" value="true"/>
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<param name="inpaint_radius" value="1.0"/>
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<param name="param_file_path" value="$(var obstacle_segmentation_ground_segmentation_elevation_map_param_path)"/>
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<param name="elevation_map_directory" value="$(find-pkg-share elevation_map_loader)/data/elevation_maps"/>
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<param name="use_elevation_map_cloud_publisher" value="false"/>
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</node>
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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"/>
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</group>
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</group>
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</group>
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