Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(perception): for TLR on AWSIM #610

Merged
merged 2 commits into from
Sep 24, 2024
Merged

fix(perception): for TLR on AWSIM #610

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
8ea975e
feat(tier4_perception_launch): enable to use multi camera on traffic …
MasatoSaeki Sep 19, 2024
2230a07
fix(perception): adopt awsim (tlr) camera topic (#1177)
MasatoSaeki Sep 20, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 2 additions & 1 deletion autoware_launch/launch/components/tier4_perception_component.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
<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"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<!-- Options to Switch Launch Function/Module -->
Expand Down Expand Up @@ -48,7 +49,7 @@
<arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
<arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
<arg name="traffic_light_recognition/fusion_only" value="false"/>
<arg name="traffic_light_image_number" value="2"/>
<arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>

<!-- object recognition parameters -->
<arg
Expand Down
4 changes: 2 additions & 2 deletions autoware_launch/launch/e2e_simulator.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@
<arg name="lanelet2_map_file" default="lanelet2_map.osm" description="lanelet2 map file name"/>
<arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
<!-- Perception -->
<arg name="traffic_light_namespace" default="traffic_light" description="traffic light recognition namespace1"/>
<arg name="traffic_light_namespace" default="[traffic_light]" description="traffic light recognition namespace"/>
<!-- Control -->
<!-- Vehicle -->
<arg name="launch_vehicle_interface" default="false"/>
Expand Down Expand Up @@ -79,7 +79,7 @@
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
<arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
<arg name="namespace1" value="$(var traffic_light_namespace)"/>
<arg name="all_traffic_light_camera" value="$(var traffic_light_namespace)"/>
<!-- Tools -->
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_config" value="$(var rviz_config)"/>
Expand Down
Loading