From 26465fc7ca7456b69cde8808f2d8f149c536eea9 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Sep 2024 17:00:34 +0900 Subject: [PATCH 1/2] feat(ground_segmentation): add option for time keeper (#1134) add option for time keeper Signed-off-by: a-maumau Co-authored-by: Taekjin LEE --- .../ground_segmentation/ground_segmentation.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 3f33218eb3..0237671ccf 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -34,3 +34,6 @@ low_priority_region_x: -20.0 center_pcl_shift: 0.0 radial_divider_angle_deg: 1.0 + + # debug parameters + publish_processing_time_detail: false From 8f3e2bf06c6f0fc61ed92ceea929f467439f2b4d Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Sep 2024 17:00:51 +0900 Subject: [PATCH 2/2] feat(occupancy_grid_map): add option for time keeper (#1138) * add option for time keeper Signed-off-by: a-maumau * set default to false Signed-off-by: a-maumau --------- Signed-off-by: a-maumau Co-authored-by: Taekjin LEE --- .../laserscan_based_occupancy_grid_map.param.yaml | 3 +++ .../multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml | 3 +++ .../pointcloud_based_occupancy_grid_map.param.yaml | 3 +++ .../synchronized_grid_map_fusion_node.param.yaml | 3 +++ 4 files changed, 12 insertions(+) diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml index 9dcc722587..eaaeb026d0 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml @@ -16,3 +16,6 @@ map_length: 150.0 map_width: 150.0 map_resolution: 0.5 + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml index 878bea4cd8..8ed3fdddfa 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -12,6 +12,9 @@ map_length_x: 150.0 # [m] map_length_y: 150.0 # [m] + # debug parameters + publish_processing_time_detail: false + # downsample input pointcloud downsample_input_pointcloud: true downsample_voxel_size: 0.25 # [m] diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index a87e8b95a0..c739c68306 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -32,3 +32,6 @@ projection_dz_threshold: 0.01 # [m] for avoiding null division obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length pub_debug_grid: false + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml index f8a2dc2fbc..42966e01fa 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml @@ -18,3 +18,6 @@ fusion_map_length_x: 100.0 fusion_map_length_y: 100.0 fusion_map_resolution: 0.5 + + # debug parameters + publish_processing_time_detail: false