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perception_launch: Traffic light composable nodes (autowarefoundation#43
) * perception_launch: Traffic light composable nodes Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix arg Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>
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...perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py
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| # Copyright 2020 Tier IV, Inc. All rights reserved. | ||
| # | ||
| # Licensed under the Apache License, Version 2.0 (the "License"); | ||
| # you may not use this file except in compliance with the License. | ||
| # You may obtain a copy of the License at | ||
| # | ||
| # http://www.apache.org/licenses/LICENSE-2.0 | ||
| # | ||
| # Unless required by applicable law or agreed to in writing, software | ||
| # distributed under the License is distributed on an "AS IS" BASIS, | ||
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| # See the License for the specific language governing permissions and | ||
| # limitations under the License. | ||
|
|
||
| import os | ||
| import yaml | ||
|
|
||
| from ament_index_python.packages import get_package_share_directory | ||
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|
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| import launch | ||
| from launch import LaunchDescription | ||
| from launch.actions import DeclareLaunchArgument | ||
| from launch.substitutions import LaunchConfiguration | ||
| from launch_ros.actions import ComposableNodeContainer, LoadComposableNodes | ||
| from launch_ros.descriptions import ComposableNode | ||
|
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|
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| def generate_launch_description(): | ||
| launch_arguments = [] | ||
|
|
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| def add_launch_arg(name: str, default_value=None): | ||
| # a default_value of None is equivalent to not passing that kwarg at all | ||
| launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) | ||
|
|
||
| ssd_fine_detector_share_dir = get_package_share_directory( | ||
| 'traffic_light_ssd_fine_detector' | ||
| ) | ||
| classifier_share_dir = get_package_share_directory( | ||
| 'traffic_light_classifier' | ||
| ) | ||
| add_launch_arg('enable_fine_detection', 'True') | ||
| add_launch_arg('input/image', '/sensing/camera/traffic_light/image_raw') | ||
|
|
||
| # traffic_light_ssd_fine_detector | ||
| add_launch_arg('onnx_file', | ||
| os.path.join(ssd_fine_detector_share_dir, 'data', 'mb2-ssd-lite-tlr.onnx')) | ||
| add_launch_arg('label_file', | ||
| os.path.join(ssd_fine_detector_share_dir, 'data', 'voc_labels_tl.txt')) | ||
| add_launch_arg('fine_detector_precision', 'FP32') | ||
| add_launch_arg('score_thresh', '0.7') | ||
| add_launch_arg('max_batch_size', '8') | ||
| add_launch_arg('approximate_sync', 'False') | ||
| add_launch_arg('mean', '[0.5, 0.5, 0.5]') | ||
| add_launch_arg('std', '[0.5, 0.5, 0.5]') | ||
|
|
||
| # traffic_light_classifier | ||
| add_launch_arg('classifier_type', '1') | ||
| add_launch_arg('model_file_path', | ||
| os.path.join(classifier_share_dir, | ||
| 'data', | ||
| 'traffic_light_classifier_mobilenetv2.onnx')) | ||
| add_launch_arg('label_file_path', | ||
| os.path.join(classifier_share_dir, 'data', 'lamp_labels.txt')) | ||
| add_launch_arg('precision', 'fp16') | ||
| add_launch_arg('input_c', '3') | ||
| add_launch_arg('input_h', '224') | ||
| add_launch_arg('input_w', '224') | ||
|
|
||
| def create_parameter_dict(*args): | ||
| result = {} | ||
| for x in args: | ||
| result[x] = LaunchConfiguration(x) | ||
| return result | ||
|
|
||
| container = ComposableNodeContainer( | ||
| name='traffic_light_node_container', | ||
| namespace='/perception/traffic_light_recognition', | ||
| package='rclcpp_components', | ||
| executable='component_container', | ||
| composable_node_descriptions=[ | ||
| ComposableNode( | ||
| package='traffic_light_classifier', | ||
| plugin='traffic_light::TrafficLightClassifierNodelet', | ||
| name='traffic_light_classifier', | ||
| parameters=[create_parameter_dict('approximate_sync', 'classifier_type', | ||
| 'model_file_path', 'label_file_path', | ||
| 'precision', 'input_c', 'input_h', 'input_w')], | ||
| remappings=[('input/image', LaunchConfiguration('input/image')), | ||
| ('input/rois', 'rois'), | ||
| ('output/traffic_light_states', 'traffic_light_states')] | ||
| ), | ||
| ComposableNode( | ||
| package='traffic_light_visualization', | ||
| plugin='traffic_light::TrafficLightRoiVisualizerNodelet', | ||
| name='traffic_light_roi_visualizer', | ||
| parameters=[create_parameter_dict('enable_fine_detection')], | ||
| remappings=[('input/image', LaunchConfiguration('input/image')), | ||
| ('input/rois', 'rois'), | ||
| ('input/rough/rois', 'rough/rois'), | ||
| ('output/image', 'debug/rois'), | ||
| ('output/image/compressed', 'debug/rois/compressed'), | ||
| ('output/image/compressedDepth', 'debug/rois/compressedDepth')] | ||
| ) | ||
| ], | ||
| output='both', | ||
| ) | ||
|
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| ssd_fine_detector_param = create_parameter_dict('onnx_file', 'label_file', | ||
| 'score_thresh', 'max_batch_size', | ||
| 'approximate_sync', 'mean', 'std') | ||
| ssd_fine_detector_param['mode'] = LaunchConfiguration('fine_detector_precision') | ||
|
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| loader = LoadComposableNodes( | ||
| composable_node_descriptions=[ | ||
| ComposableNode( | ||
| package='traffic_light_ssd_fine_detector', | ||
| plugin='traffic_light::TrafficLightSSDFineDetectorNodelet', | ||
| name='traffic_light_ssd_fine_detector', | ||
| parameters=[ssd_fine_detector_param], | ||
| remappings=[('input/image', LaunchConfiguration('input/image')), | ||
| ('input/rois', 'rough/rois'), | ||
| ('output/rois', 'rois')] | ||
| ), | ||
| ], | ||
| target_container=container, | ||
| condition=launch.conditions.IfCondition(LaunchConfiguration('enable_fine_detection')), | ||
| ) | ||
|
|
||
| return LaunchDescription(launch_arguments + [container, loader]) |