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enable only 2d tracking node
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Signed-off-by: yoshiri <[email protected]>
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@YoshiRi
YoshiRi committed Nov 16, 2023
1 parent b5d6c51 commit 10f6779
Showing 1 changed file with 123 additions and 10 deletions.
133 changes: 123 additions & 10 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,7 @@
<push-ros-namespace namespace="perception"/>

<!-- Object segmentation module -->
<group>
<!-- <group>
<push-ros-namespace namespace="obstacle_segmentation"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
<arg name="base_frame" value="base_link"/>
Expand All @@ -122,10 +122,10 @@
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
</include>
</group>
</group> -->

<!-- Occupancy grid map module -->
<group>
<!-- <group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
Expand All @@ -140,15 +140,128 @@
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="occupancy_grid_map_updater_param_path" value="$(var occupancy_grid_map_updater_param_path)"/>
</include>
</group>
</group> -->

<!-- Object recognition module -->
<group unless="$(var use_empty_dynamic_object_publisher)">
<push-ros-namespace namespace="object_recognition"/>
<!-- Detection module -->
<group>
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
<let name="yolox-model-name" value="yolox-sPlus-opt"/>
<let name="yolox_data_path" value="$(env HOME)/autoware_data"/>
<let name="yolox_output_base" value="/perception/object_recognition/detection"/>
<let name="bytetrack_output_base" value="/perception/object_recognition/detection/tracked"/>

<!-- camera0 -->
<group>
<push-ros-namespace namespace="camera0"/>
<!-- yolox module-->
<include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="input/image" value="/sensing/camera/camera0/image_rect_color"/>
<arg name="output/objects" value="$(var yolox_output_base)/rois0"/>
<arg name="model_name" value="$(var yolox-model-name)"/>
<arg name="data_path" value="$(var yolox_data_path)"/>
</include>
<!-- bytetrack module -->
<include file="$(find-pkg-share bytetrack)/launch/bytetrack.launch.xml">
<arg name="detection_rect" value="$(var yolox_output_base)/rois0"/>
<arg name="tracked_rect" value="$(var bytetrack_output_base)/rois0"/>
<arg name="enable_visualizer" value="false"/>
</include>
</group>

<!-- camera1 -->
<group>
<push-ros-namespace namespace="camera1"/>
<!-- yolox module-->
<include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="input/image" value="/sensing/camera/camera1/image_rect_color"/>
<arg name="output/objects" value="$(var yolox_output_base)/rois1"/>
<arg name="model_name" value="$(var yolox-model-name)"/>
<arg name="data_path" value="$(var yolox_data_path)"/>
</include>
<!-- bytetrack module -->
<include file="$(find-pkg-share bytetrack)/launch/bytetrack.launch.xml">
<arg name="detection_rect" value="$(var yolox_output_base)/rois1"/>
<arg name="tracked_rect" value="$(var bytetrack_output_base)/rois1"/>
<arg name="enable_visualizer" value="false"/>
</include>
</group>

<!-- camera2 -->
<group>
<push-ros-namespace namespace="camera2"/>
<!-- yolox module-->
<include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="input/image" value="/sensing/camera/camera2/image_rect_color"/>
<arg name="output/objects" value="$(var yolox_output_base)/rois2"/>
<arg name="model_name" value="$(var yolox-model-name)"/>
<arg name="data_path" value="$(var yolox_data_path)"/>
</include>
<!-- bytetrack module -->
<include file="$(find-pkg-share bytetrack)/launch/bytetrack.launch.xml">
<arg name="detection_rect" value="$(var yolox_output_base)/rois2"/>
<arg name="tracked_rect" value="$(var bytetrack_output_base)/rois2"/>
<arg name="enable_visualizer" value="false"/>
</include>
</group>

<!-- camera3 -->
<group>
<push-ros-namespace namespace="camera3"/>
<!-- yolox module-->
<include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="input/image" value="/sensing/camera/camera3/image_rect_color"/>
<arg name="output/objects" value="$(var yolox_output_base)/rois3"/>
<arg name="model_name" value="$(var yolox-model-name)"/>
<arg name="data_path" value="$(var yolox_data_path)"/>
</include>
<!-- bytetrack module -->
<include file="$(find-pkg-share bytetrack)/launch/bytetrack.launch.xml">
<arg name="detection_rect" value="$(var yolox_output_base)/rois3"/>
<arg name="tracked_rect" value="$(var bytetrack_output_base)/rois3"/>
<arg name="enable_visualizer" value="false"/>
</include>
</group>

<!-- camera4 -->
<group>
<push-ros-namespace namespace="camera4"/>
<!-- yolox module-->
<include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="input/image" value="/sensing/camera/camera4/image_rect_color"/>
<arg name="output/objects" value="$(var yolox_output_base)/rois4"/>
<arg name="model_name" value="$(var yolox-model-name)"/>
<arg name="data_path" value="$(var yolox_data_path)"/>
</include>
<!-- bytetrack module -->
<include file="$(find-pkg-share bytetrack)/launch/bytetrack.launch.xml">
<arg name="detection_rect" value="$(var yolox_output_base)/rois4"/>
<arg name="tracked_rect" value="$(var bytetrack_output_base)/rois4"/>
<arg name="enable_visualizer" value="false"/>
</include>
</group>

<!-- camera5 -->
<group>
<push-ros-namespace namespace="camera5"/>
<!-- yolox module-->
<include file="$(find-pkg-share tensorrt_yolox)/launch/yolox.launch.xml">
<arg name="input/image" value="/sensing/camera/camera5/image_rect_color"/>
<arg name="output/objects" value="$(var yolox_output_base)/rois5"/>
<arg name="model_name" value="$(var yolox-model-name)"/>
<arg name="data_path" value="$(var yolox_data_path)"/>
</include>
<!-- bytetrack module -->
<include file="$(find-pkg-share bytetrack)/launch/bytetrack.launch.xml">
<arg name="detection_rect" value="$(var yolox_output_base)/rois5"/>
<arg name="tracked_rect" value="$(var bytetrack_output_base)/rois5"/>
<arg name="enable_visualizer" value="false"/>
</include>
</group>

<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
<arg name="mode" value="$(var mode)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
Expand Down Expand Up @@ -185,11 +298,11 @@
<arg name="fusion_distance" value="$(var fusion_distance)"/>
<arg name="trust_object_distance" value="$(var trust_object_distance)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
</include>
</include> -->
</group>

<!-- Tracking module -->
<group>
<!-- <group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
<arg name="mode" value="$(var mode)"/>
Expand All @@ -202,15 +315,15 @@
<arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
<arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
</include>
</group>
</group> -->

<!-- Prediction module -->
<group>
<!-- <group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="$(var use_vector_map)"/>
</include>
</group>
</group> -->
</group>

<group if="$(var use_empty_dynamic_object_publisher)">
Expand Down

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