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feat(perception): add data_path argument to launch file #577

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merged 2 commits into from
Sep 20, 2023
Merged

feat(perception): add data_path argument to launch file #577

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ba29717
feat(perception): add data_path argument to launch file
lexavtanke Sep 20, 2023
b97bb7d
style(pre-commit): autofix
pre-commit-ci[bot] Sep 20, 2023
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5 changes: 4 additions & 1 deletion autoware_launch/launch/autoware.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@
<arg name="sensor_model" description="sensor model name"/>
<arg name="use_pointcloud_container" default="true" description="launch pointcloud container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<!-- Optional parameters -->
<!-- Modules to be launched -->
Expand Down Expand Up @@ -89,7 +90,9 @@

<!-- Perception -->
<group if="$(var launch_perception)">
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml"/>
<include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
<arg name="data_path" value="$(var data_path)"/>
</include>
</group>

<!-- Planning -->
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6 changes: 4 additions & 2 deletions autoware_launch/launch/components/tier4_perception_component.launch.xml
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Expand Up @@ -8,6 +8,7 @@
default="obstacle_pointcloud"
description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<arg name="mode" value="$(var perception_mode)"/>
Expand All @@ -19,6 +20,7 @@
<arg name="occupancy_grid_map_updater" value="$(var occupancy_grid_map_updater)"/>
<arg name="objects_filter_method" value="$(var detected_objects_filter_method)"/>
<arg name="objects_validation_method" value="$(var detected_objects_validation_method)"/>
<arg name="data_path" value="$(var data_path)"/>

<!-- object recognition -->
<arg
Expand Down Expand Up @@ -92,9 +94,9 @@

<!-- traffic light recognition -->
<arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
<arg name="traffic_light_fine_detector_model_path" value="$(find-pkg-share traffic_light_fine_detector)/data"/>
<arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
<arg name="traffic_light_fine_detector_model_name" value="tlr_yolox_s_batch_6"/>
<arg name="traffic_light_classifier_model_path" value="$(find-pkg-share traffic_light_classifier)/data"/>
<arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
<arg name="traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
</include>
</launch>
2 changes: 2 additions & 0 deletions autoware_launch/launch/e2e_simulator.launch.xml
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Expand Up @@ -4,6 +4,7 @@
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<!-- Optional parameters -->
<!-- Modules to be launched -->
Expand Down Expand Up @@ -36,6 +37,7 @@
<arg name="map_path" value="$(var map_path)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="data_path" value="$(var data_path)"/>
<!-- Modules to be launched -->
<arg name="launch_vehicle" value="$(var vehicle)"/>
<arg name="launch_map" value="$(var map)"/>
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1 change: 1 addition & 0 deletions autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -5,6 +5,7 @@
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="vehicle_id" default="$(env VEHICLE_ID default)" description="vehicle specific ID"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<!-- Optional parameters -->
<!-- Modules to be launched -->
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2 changes: 2 additions & 0 deletions autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -4,6 +4,7 @@
<arg name="map_path" description="point cloud and lanelet2 map directory path"/>
<arg name="vehicle_model" description="vehicle model name"/>
<arg name="sensor_model" description="sensor model name"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>

<!-- Optional parameters -->
<!-- Map -->
Expand Down Expand Up @@ -37,6 +38,7 @@
<arg name="map_path" value="$(var map_path)"/>
<arg name="vehicle_model" value="$(var vehicle_model)"/>
<arg name="sensor_model" value="$(var sensor_model)"/>
<arg name="data_path" value="$(var data_path)"/>
<!-- Modules to be launched -->
<arg name="launch_sensing" value="false"/>
<arg name="launch_localization" value="false"/>
Expand Down
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