fix lidar only mode

chore: simplify mode check Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Jun 11, 2024 · 3c5b5c2 · 3c5b5c2
1 parent a50af80
commit 3c5b5c2
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Showing 3 changed files with 8 additions and 1 deletion.
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -240,6 +240,12 @@
       <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
+    <!-- DetectionByTracker -->
+    <group if="$(var use_detection_by_tracker)">
+      <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
+        <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      </include>
+    </group>
     <!-- Lidar object merger -->
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>

diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -10,6 +10,7 @@
   <!-- Pipeline junctions -->
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
+  <let name="use_radar_tracking_fusion" value="false" if="$(eval '&quot;$(var mode)&quot;!=&quot;camera_lidar_radar_fusion&quot;')"/>
 
   <!-- External interface -->
   <arg name="input/detection_input_channels" default="['detected_objects']"/>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -90,7 +90,7 @@
   <arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>
 
   <!-- Traffic light recognition parameters -->
-  <arg name="use_traffic_light_recognition" default="true"/>
+  <arg name="use_traffic_light_recognition" default="false"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true"/>
   <arg name="traffic_light_recognition/fusion_only" default="false"/>
   <arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>