feat(perception_launch): replace perception_launch with tier4_percept…

…ion_launch (autowarefoundation#681) * feat(perception_launch): replace perception_launch with tier4_perception_launch Signed-off-by: kminoda <[email protected]> * fix default perception mode * Update readme * remove perception_launch from packages.xml Signed-off-by: kminoda <[email protected]>
sykwer · Jan 16, 2023 · 719dd85 · 719dd85
1 parent 90f7743
commit 719dd85
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Showing 30 changed files with 45 additions and 2,462 deletions.
diff --git a/README.md b/README.md
@@ -20,6 +20,5 @@ ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/path/to/map
 - [control_launch](./control_launch)
 - [integration_launch](./integration_launch)
 - [localization_launch](./localization_launch)
-- [perception_launch](./perception_launch)
 - [planning_launch](./planning_launch)
 - [system_launch](./system_launch)
diff --git a/autoware_launch/CMakeLists.txt b/autoware_launch/CMakeLists.txt
@@ -11,6 +11,7 @@ endif()
 
 ament_auto_package(
   INSTALL_TO_SHARE
+  config
   launch
   rviz
 )
diff --git a/...etection/object_lanelet_filter.param.yaml → ...etection/object_lanelet_filter.param.yaml b/...etection/object_lanelet_filter.param.yaml → ...etection/object_lanelet_filter.param.yaml
diff --git a/...tection/object_position_filter.param.yaml → ...tection/object_position_filter.param.yaml b/...tection/object_position_filter.param.yaml → ...tection/object_position_filter.param.yaml
diff --git a/...etection/pointcloud_map_filter.param.yaml → ...etection/pointcloud_map_filter.param.yaml b/...etection/pointcloud_map_filter.param.yaml → ...etection/pointcloud_map_filter.param.yaml
diff --git a/...racker/data_association_matrix.param.yaml → ...racker/data_association_matrix.param.yaml b/...racker/data_association_matrix.param.yaml → ...racker/data_association_matrix.param.yaml
diff --git a/...egmentation/elevation_map_parameters.yaml → ...egmentation/elevation_map_parameters.yaml b/...egmentation/elevation_map_parameters.yaml → ...egmentation/elevation_map_parameters.yaml
diff --git a/...gmentation/ground_segmentation.param.yaml → ...gmentation/ground_segmentation.param.yaml b/...gmentation/ground_segmentation.param.yaml → ...gmentation/ground_segmentation.param.yaml
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -100,8 +100,9 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
-      <arg name="mode" value="$(var perception_mode)" />
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
+      <arg name="mode" value="$(var perception_mode)"/>
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
       <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mode"/>
+  <arg name="vehicle_param_file"/>
+  <arg name="use_pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
+  <arg name="enable_fine_detection"/>
+
+  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <arg name="mode" value="$(var mode)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+
+    <arg
+      name="object_recognition_detection_object_lanelet_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_position_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_pointcloud_map_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+  </include>
+</launch>
diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
@@ -14,7 +14,6 @@
   <exec_depend>control_launch</exec_depend>
   <exec_depend>global_parameter_loader</exec_depend>
   <exec_depend>localization_launch</exec_depend>
-  <exec_depend>perception_launch</exec_depend>
   <exec_depend>planning_launch</exec_depend>
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>

diff --git a/perception_launch/CMakeLists.txt b/perception_launch/CMakeLists.txt
diff --git a/perception_launch/README.md b/perception_launch/README.md
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
-Original file line number
+Diff line change
@@ Expand Up / @@ -11,6 +11,7 @@ endif() @@
     ament_auto_package(
       INSTALL_TO_SHARE
+      config
       launch
       rviz
     )