From ae017a1b3e96babc003e6309951ab0084e8d674a Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Wed, 10 Jul 2024 23:18:00 +0900
Subject: [PATCH] feat(tier4_perception_component): refactored launch options
 (#1060)

* chore: refactored launch options

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* modify launcher

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

* fix args

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

---------

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
---
 .../tier4_perception_component.launch.xml     | 59 ++++++++++++-------
 1 file changed, 38 insertions(+), 21 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
index e13b987607..823b0084b6 100644
--- a/autoware_launch/launch/components/tier4_perception_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -1,31 +1,53 @@
 <?xml version="1.0"?>
 <launch>
-  <arg
-    name="occupancy_grid_map_method"
-    default="pointcloud_based_occupancy_grid_map"
-    description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map, multi_lidar_pointcloud_based_occupancy_grid_map"
-  />
+  <arg name="use_empty_dynamic_object_publisher" default="false" description="if true, /perception/object_recognition/objects topic has an empty DynamicObjectArray"/>
+  <arg name="use_traffic_light_recognition" default="true" description="use traffic light recognition module, if false, traffic light recognition module will not be launched"/>
+
+  <arg name="use_low_height_cropbox" default="false" description="use low height crop filter in clustering"/>
+  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_roi_based_cluster" default="true" description="launch roi_based_cluster in clustering"/>
+  <arg name="use_low_intensity_cluster_filter" default="true" description="launch low_intensity_cluster_filter in clustering"/>
+  <arg name="use_perception_online_evaluator" default="false" description="launch perception online evaluator"/>
+  <arg name="use_detection_by_tracker" default="true" description="launch detection_by_tracker function"/>
+  <arg name="use_radar_tracking_fusion" default="true" description="if true, radar objects are merged in tracking module. Otherwise, radar objects are merged in detection module."/>
+  <arg name="use_object_filter" default="true" description="launch object filter to filter-out detected object"/>
+
+  <arg name="occupancy_grid_map_method" default="pointcloud_based" description="options: pointcloud_based, laserscan_based, multi_lidar_pointcloud_based"/>
   <arg name="occupancy_grid_map_updater" default="binary_bayes_filter" description="options: binary_bayes_filter"/>
   <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
-  <arg
-    name="detected_objects_validation_method"
-    default="obstacle_pointcloud"
-    description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
-  />
+  <arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <!-- Options to Switch Launch Function/Module -->
     <arg name="mode" value="$(var perception_mode)"/>
     <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
-    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)"/>
+    <arg name="occupancy_grid_map_method" value="$(var occupancy_grid_map_method)_occupancy_grid_map"/>
     <arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
+
+    <arg name="use_empty_dynamic_object_publisher" value="$(var use_empty_dynamic_object_publisher)"/>
+    <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+    <arg name="use_vector_map" value="$(var use_vector_map)"/>
+    <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+    <arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
+    <arg name="use_low_intensity_cluster_filter" value="$(var use_low_intensity_cluster_filter)"/>
+    <arg name="use_perception_online_evaluator" value="$(var use_perception_online_evaluator)"/>
+    <arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
+    <arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
+    <arg name="use_object_filter" value="$(var use_object_filter)"/>
     <arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
     <arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
     <arg name="data_path" value="$(var data_path)"/>
-    <arg name="use_low_height_cropbox" value="false"/>
 
-    <!-- object recognition -->
+    <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
+    <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="traffic_light_recognition/fusion_only" value="false"/>
+    <arg name="traffic_light_image_number" value="2"/>
+
+    <!-- object recognition parameters -->
     <arg
       name="object_recognition_detection_euclidean_cluster_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/clustering/euclidean_cluster.param.yaml"
@@ -145,7 +167,7 @@
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml"
     />
 
-    <!-- obstacle segmentation -->
+    <!-- obstacle segmentation parameters -->
     <arg
       name="obstacle_segmentation_ground_segmentation_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
@@ -155,16 +177,11 @@
       value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
     />
 
-    <!-- occupancy grid map -->
+    <!-- occupancy grid map parameters -->
     <arg name="occupancy_grid_map_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_method).param.yaml"/>
     <arg name="occupancy_grid_map_updater_param_path" value="$(find-pkg-share autoware_launch)/config/perception/occupancy_grid_map/$(var occupancy_grid_map_updater)_updater.param.yaml"/>
 
-    <!-- traffic light recognition -->
-    <arg name="use_traffic_light_recognition" value="true"/>
-    <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
-    <arg name="traffic_light_recognition/fusion_only" value="false"/>
-    <arg name="traffic_light_image_number" value="1"/>
-
+    <!-- traffic light recognition parameters -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>