update settings of perception / localization for AIP X2 (autowarefoun…

…dation#40)
TomohitoAndo · Oct 19, 2021 · 87675ed · 87675ed
1 parent 64ff182
commit 87675ed
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Showing 5 changed files with 9 additions and 7 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -47,7 +47,7 @@
   <!-- Perception -->
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-    <arg name="mode" value="camera_lidar_fusion" />
+    <arg name="mode" value="lidar" />
   </include>
 
   <!-- Planning -->

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -71,7 +71,7 @@
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-      <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="mode" value="lidar" />
     </include>
   </group>
 

diff --git a/localization_launch/launch/util/util.launch.xml b/localization_launch/launch/util/util.launch.xml
@@ -2,13 +2,13 @@
 <launch>
 
   <!-- Topics -->
-  <arg name="input_sensor_points_topic" default="/sensing/lidar/top/rectified/pointcloud" description="input topic name for raw pointcloud"/>
+  <arg name="input_sensor_points_topic" default="/sensing/lidar/right_upper/rectified/pointcloud_ex" description="input topic name for raw pointcloud"/>
   <arg name="output_measurement_range_sensor_points_topic" default="measurement_range/pointcloud" description="output topic name for crop box filter"/>
   <arg name="output_voxel_grid_downsample_sensor_points_topic" default="voxel_grid_downsample/pointcloud" description="output topic name for voxel grid downsample filter"/>
   <arg name="output_downsample_sensor_points_topic" default="downsample/pointcloud" description="output topic name for downsample filter. this is final output"/>
 
   <!-- container -->
-  <arg name="container" default="/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container"  description="container name"/>
+  <arg name="container" default="/sensing/lidar/right_upper/pointcloud_preprocessor/pandar_node_container"  description="container name"/>
 
   <!-- option -->
   <arg name="use_intra_process" default="true" description="use ROS2 component container communication"/>

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -22,7 +22,9 @@
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
     <group>
-      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
+      </include>
     </group>
     <group>
       <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">

diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
@@ -78,10 +78,10 @@
     </group>
 
     <!-- traffic light module -->
-    <group>
+    <!-- <group>
       <push-ros-namespace namespace="traffic_light_recognition"/>
       <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
       </include>
-    </group>
+    </group> -->
   </group>
 </launch>