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chore: remove default values from subsequent launch files
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@technolojin
technolojin committed Jun 11, 2024
1 parent 911bdc3 commit 7c8b734
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Showing 5 changed files with 34 additions and 32 deletions.
43 changes: 22 additions & 21 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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@@ -1,33 +1,34 @@
<?xml version="1.0"?>
<launch>
<!-- Interface parameters -->
<arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="mode" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="use_detection_by_tracker"/>
<arg name="objects_validation_method"/>

<!-- Lidar parameters -->
<arg name="input/pointcloud"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="lidar_detection_model" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="use_object_filter" description="use object filter"/>
<arg name="pointcloud_container_name"/>

<!-- Camera parameters -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default=""/>
<arg name="camera_info1" default=""/>
<arg name="image_raw2" default=""/>
<arg name="camera_info2" default=""/>
<arg name="image_raw3" default=""/>
<arg name="camera_info3" default=""/>
<arg name="image_raw4" default=""/>
<arg name="camera_info4" default=""/>
<arg name="image_raw5" default=""/>
<arg name="camera_info5" default=""/>
<arg name="image_raw6" default=""/>
<arg name="camera_info6" default=""/>
<arg name="image_raw7" default=""/>
<arg name="camera_info7" default=""/>
<arg name="image_number" default="1" description="choose image raw number(1-8)"/>
<arg name="image_raw0"/>
<arg name="camera_info0"/>
<arg name="image_raw1"/>
<arg name="camera_info1"/>
<arg name="image_raw2"/>
<arg name="camera_info2"/>
<arg name="image_raw3"/>
<arg name="camera_info3"/>
<arg name="image_raw4"/>
<arg name="camera_info4"/>
<arg name="image_raw5"/>
<arg name="camera_info5"/>
<arg name="image_raw6"/>
<arg name="camera_info6"/>
<arg name="image_raw7"/>
<arg name="camera_info7"/>
<arg name="image_number"/>

<!-- Radar parameters -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
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6 changes: 3 additions & 3 deletions ...er4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml
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@@ -1,11 +1,11 @@
<?xml version="1.0"?>
<launch>
<!-- Pipeline junctions -->
<arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
<arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>

<!-- external interfaces -->
<arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
<arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
<arg name="input/objects"/>
<arg name="output/objects"/>

<!-- Filter -->
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
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8 changes: 4 additions & 4 deletions ..._perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml
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@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<launch>
<!-- Pipeline junctions -->
<arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
<arg name="objects_validation_method" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>

<!-- external interfaces -->
<arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
<arg name="input/objects" default="centerpoint/objects"/>
<arg name="output/objects" default="centerpoint/validation/objects"/>
<arg name="input/obstacle_pointcloud" description="Only required when 'obstacle_pointcloud'"/>
<arg name="input/objects"/>
<arg name="output/objects"/>

<!-- Validator -->
<group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
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4 changes: 2 additions & 2 deletions ...ier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml
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<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- External interfaces -->
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
<arg name="output/objects" default="far_objects"/>
<arg name="input/radar"/>
<arg name="output/objects"/>

<!-- Radar filter pipeline -->
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
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5 changes: 3 additions & 2 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -85,8 +85,8 @@
description="if use_empty_dynamic_object_publisher:=true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"
/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="objects_filter_method" default="lanelet_filter"/>
<arg name="objects_validation_method" default="obstacle_pointcloud"/>
<arg name="objects_filter_method" default="lanelet_filter" description="options: `lanelet_filter` or `position_filter`"/>
<arg name="objects_validation_method" default="obstacle_pointcloud" description="options: `obstacle_pointcloud` or `occupancy_grid`"/>
<arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>

<!-- Traffic light recognition parameters -->
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<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>

<arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
<arg name="objects_validation_method" value="$(var objects_validation_method)"/>
<arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
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