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| ros__parameters: | ||
| mean_threshold: 0.6 | ||
| enable_debug: false | ||
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20 changes: 10 additions & 10 deletions
20
perception/detected_object_validation/launch/object_lanelet_filter.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml" /> | ||
| <arg name="vector_map_topic" default="/map/vector_map" /> | ||
| <arg name="input/object" default="in_objects" /> | ||
| <arg name="output/object" default="out_objects" /> | ||
| <node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen"> | ||
| <remap from="input/vector_map" to="$(var vector_map_topic)" /> | ||
| <remap from="input/object" to="$(var input/object)" /> | ||
| <remap from="output/object" to="$(var output/object)" /> | ||
| <param from="$(var object_lanelet_filter_param_file)" /> | ||
| </node> | ||
| <arg name="object_lanelet_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/> | ||
| <arg name="vector_map_topic" default="/map/vector_map"/> | ||
| <arg name="input/object" default="in_objects"/> | ||
| <arg name="output/object" default="out_objects"/> | ||
| <node pkg="detected_object_validation" exec="object_lanelet_filter_node" name="object_lanelet_filter" output="screen"> | ||
| <remap from="input/vector_map" to="$(var vector_map_topic)"/> | ||
| <remap from="input/object" to="$(var input/object)"/> | ||
| <remap from="output/object" to="$(var output/object)"/> | ||
| <param from="$(var object_lanelet_filter_param_file)"/> | ||
| </node> | ||
| </launch> |
16 changes: 8 additions & 8 deletions
16
perception/detected_object_validation/launch/object_position_filter.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml" /> | ||
| <arg name="input/object" default="in_objects" /> | ||
| <arg name="output/object" default="out_objects" /> | ||
| <node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen"> | ||
| <remap from="input/object" to="$(var input/object)" /> | ||
| <remap from="output/object" to="$(var output/object)" /> | ||
| <param from="$(var object_position_filter_param_file)" /> | ||
| </node> | ||
| <arg name="object_position_filter_param_file" default="$(find-pkg-share detected_object_validation)/config/object_position_filter.param.yaml"/> | ||
| <arg name="input/object" default="in_objects"/> | ||
| <arg name="output/object" default="out_objects"/> | ||
| <node pkg="detected_object_validation" exec="object_position_filter_node" name="object_position_filter" output="screen"> | ||
| <remap from="input/object" to="$(var input/object)"/> | ||
| <remap from="output/object" to="$(var output/object)"/> | ||
| <param from="$(var object_position_filter_param_file)"/> | ||
| </node> | ||
| </launch> |
20 changes: 10 additions & 10 deletions
20
perception/detected_object_validation/launch/obstacle_pointcloud_based_validator.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml" /> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" /> | ||
| <arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud" /> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects" /> | ||
| <node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)" /> | ||
| <remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)" /> | ||
| <remap from="~/output/objects" to="$(var output/objects)" /> | ||
| <param from="$(var obstacle_pointcloud_based_validator_param_file)" /> | ||
| </node> | ||
| <arg name="obstacle_pointcloud_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/obstacle_pointcloud_based_validator.param.yaml"/> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/> | ||
| <arg name="input/obstacle_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/obstacle_pointcloud_based/objects"/> | ||
| <node pkg="detected_object_validation" exec="obstacle_pointcloud_based_validator_node" name="obstacle_pointcloud_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/> | ||
| <remap from="~/input/obstacle_pointcloud" to="$(var input/obstacle_pointcloud)"/> | ||
| <remap from="~/output/objects" to="$(var output/objects)"/> | ||
| <param from="$(var obstacle_pointcloud_based_validator_param_file)"/> | ||
| </node> | ||
| </launch> |
44 changes: 22 additions & 22 deletions
44
perception/detected_object_validation/launch/occupancy_grid_based_validator.launch.xml
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| <?xml version="1.0" encoding="UTF-8"?> | ||
| <launch> | ||
| <arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml" /> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects" /> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects" /> | ||
| <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan" /> | ||
| <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map" /> | ||
| <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml" /> | ||
| <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml" /> | ||
| <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen"> | ||
| <remap from="~/input/laserscan" to="$(var input/laserscan)" /> | ||
| <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)" /> | ||
| <param name="input_obstacle_pointcloud" value="false" /> | ||
| <param name="input_obstacle_and_raw_pointcloud" value="false" /> | ||
| <param name="updater_type" value="binary_bayes_filter" /> | ||
| <param from="$(var occupancy_grid_map_param_path)" /> | ||
| <param from="$(var occupancy_grid_map_updater_param_path)" /> | ||
| </node> | ||
| <node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)" /> | ||
| <remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)" /> | ||
| <remap from="~/output/objects" to="$(var output/objects)" /> | ||
| <param from="$(var occupancy_grid_based_validator_param_file)" /> | ||
| </node> | ||
| <arg name="occupancy_grid_based_validator_param_file" default="$(find-pkg-share detected_object_validation)/config/occupancy_grid_based_validator.param.yaml"/> | ||
| <arg name="input/detected_objects" default="/perception/object_recognition/detection/objects"/> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/validation/occupancy_grid_based/objects"/> | ||
| <arg name="input/laserscan" default="/perception/occupancy_grid_map/virtual_scan/laserscan"/> | ||
| <arg name="input/occupancy_grid_map" default="/perception/object_recognition/detection/validation/occupancy_grid_based/single_frame_occupancy_grid_map"/> | ||
| <arg name="occupancy_grid_map_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/laserscan_based_occupancy_grid_map.param.yaml"/> | ||
| <arg name="occupancy_grid_map_updater_param_path" default="$(find-pkg-share probabilistic_occupancy_grid_map)/config/binary_bayes_filter_updater.param.yaml"/> | ||
| <node pkg="probabilistic_occupancy_grid_map" exec="laserscan_based_occupancy_grid_map_node" name="single_frame_laserscan_occupancy_grid_map" output="screen"> | ||
| <remap from="~/input/laserscan" to="$(var input/laserscan)"/> | ||
| <remap from="~/output/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/> | ||
| <param name="input_obstacle_pointcloud" value="false"/> | ||
| <param name="input_obstacle_and_raw_pointcloud" value="false"/> | ||
| <param name="updater_type" value="binary_bayes_filter"/> | ||
| <param from="$(var occupancy_grid_map_param_path)"/> | ||
| <param from="$(var occupancy_grid_map_updater_param_path)"/> | ||
| </node> | ||
| <node pkg="detected_object_validation" exec="occupancy_grid_based_validator_node" name="occupancy_grid_based_validator_node" output="screen"> | ||
| <remap from="~/input/detected_objects" to="$(var input/detected_objects)"/> | ||
| <remap from="~/input/occupancy_grid_map" to="$(var input/occupancy_grid_map)"/> | ||
| <remap from="~/output/objects" to="$(var output/objects)"/> | ||
| <param from="$(var occupancy_grid_based_validator_param_file)"/> | ||
| </node> | ||
| </launch> |
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