[update] add launch_arg to select evaluation target topic

tier4 · Jul 26, 2024 · a824221 · a824221
1 parent aa3073f
commit a824221
Show file tree

Hide file tree

Showing 2 changed files with 20 additions and 3 deletions.
diff --git a/driving_log_replayer/launch/ground_segmentation.launch.py b/driving_log_replayer/launch/ground_segmentation.launch.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import launch
+from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration
 
 import driving_log_replayer.launch_common as cmn
@@ -25,6 +26,12 @@
 
 def generate_launch_description() -> launch.LaunchDescription:
     launch_arguments = cmn.get_launch_arguments()
+    launch_arguments.append(
+        DeclareLaunchArgument(
+            "evaluation_target_topic",
+            default_value="/perception/obstacle_segmentation/pointcloud",
+        ),
+    )
     autoware_launch = cmn.get_autoware_launch(
         sensing="false",
         localization="false",
@@ -36,7 +43,10 @@ def generate_launch_description() -> launch.LaunchDescription:
 
     evaluator_node = cmn.get_evaluator_node(
         "ground_segmentation",
-        addition_parameter={"vehicle_model": LaunchConfiguration("vehicle_model")},
+        addition_parameter={
+            "vehicle_model": LaunchConfiguration("vehicle_model"),
+            "evaluation_target_topic": LaunchConfiguration("evaluation_target_topic"),
+        },
     )
     player = cmn.get_player()
 

diff --git a/driving_log_replayer/scripts/ground_segmentation_evaluator_node.py b/driving_log_replayer/scripts/ground_segmentation_evaluator_node.py
@@ -43,6 +43,13 @@ def __init__(self, name: str) -> None:
         eval_condition: Condition = self._scenario.Evaluation.Conditions
         self.ground_label = eval_condition.ground_label
         self.obstacle_label = eval_condition.obstacle_label
+        self.declare_parameter(
+            "evaluation_target_topic",
+            "/perception/obstacle_segmentation/pointcloud",
+        )
+        self.eval_target_topic = (
+            self.get_parameter("evaluation_target_topic").get_parameter_value().string_value
+        )
 
         if eval_condition.Method == "annotated_pcd":
             # pcd eval mode
@@ -62,7 +69,7 @@ def __init__(self, name: str) -> None:
 
             self.__sub_pointcloud = self.create_subscription(
                 PointCloud2,
-                "/perception/obstacle_segmentation/single_frame/pointcloud",
+                self.eval_target_topic,
                 self.annotated_pcd_eval_cb,
                 qos_profile_sensor_data,
             )
@@ -78,7 +85,7 @@ def __init__(self, name: str) -> None:
             self.__sub_eval_target_cloud = message_filters.Subscriber(
                 self,
                 PointCloud2,
-                "/perception/obstacle_segmentation/single_frame/pointcloud",
+                self.eval_target_topic,
                 qos_profile=qos_profile_sensor_data,
             )
             self.__sync_sub = message_filters.TimeSynchronizer(