Merge pull request autowarefoundation#165 from tier4/sync-upstream

chore: sync upstream
TomohitoAndo · Jul 14, 2022 · c2b6bf8 · c2b6bf8
2 parents 3964bc9 + fed9068
commit c2b6bf8
Show file tree

Hide file tree

Showing 14 changed files with 146 additions and 71 deletions.
diff --git a/autoware_api_launch/launch/include/external_api_adaptor.launch.py b/autoware_api_launch/launch/include/external_api_adaptor.launch.py
@@ -37,6 +37,7 @@ def generate_launch_description():
         _create_api_node("engage", "Engage"),
         _create_api_node("fail_safe_state", "FailSafeState"),
         _create_api_node("initial_pose", "InitialPose"),
+        _create_api_node("localization_score", "LocalizationScore"),
         _create_api_node("map", "Map"),
         _create_api_node("operator", "Operator"),
         _create_api_node("metadata_packages", "MetadataPackages"),

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
@@ -23,7 +23,7 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default=""/>
+  <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
   <!-- Jetson AGX -->
@@ -47,7 +47,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -64,11 +64,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="clusters"/>
       <arg name="output/objects" value="objects_with_feature"/>
+      <arg name="node_name" value="shape_estimation_clustering"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="objects_with_feature"/>
       <arg name="output" value="objects"/>
+      <arg name="node_name" value="detected_object_feature_remover_clustering"/>
     </include>
     <!-- Fusion camera-lidar to classify -->
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
@@ -103,11 +105,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="camera_lidar_fusion/clusters"/>
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
+      <arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
       <arg name="output" value="camera_lidar_fusion/objects"/>
+      <arg name="node_name" value="detected_object_feature_camera_lidar_fusion"/>
     </include>
     <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
       <arg name="input/object" value="camera_lidar_fusion/objects"/>
@@ -169,16 +173,19 @@
     <arg name="input/object0" value="$(var merger/input/objects)"/>
     <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
+    <arg name="node_name" value="object_association_merger_camera_lidar_fusion"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="detection_by_tracker/objects"/>
     <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="temporary_merged_objects"/>
+    <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="temporary_merged_objects"/>
     <arg name="input/object1" value="clustering/objects"/>
     <arg name="output/object" value="objects_before_filter"/>
+    <arg name="node_name" value="object_association_merger_unknown_clustering"/>
   </include>
 
   <!-- Filter -->

diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,9 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -48,21 +50,23 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
   <!-- radar detection-->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="front_center/objects" />
+      <arg name="output/objects" value="front_center/objects"/>
     </include>
   </group>
 
   <!-- camera lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="camera_lidar_fusion/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="camera_lidar_fusion/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,12 +1,13 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- camera param -->
   <arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
@@ -52,6 +53,8 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -78,6 +81,8 @@
       <arg name="image_number" value="$(var image_number)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -87,6 +92,8 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -96,13 +103,15 @@
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
   <!-- radar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 </launch>
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
@@ -6,10 +6,9 @@
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
   <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
-  <arg name="container_name" default=""/>
+  <arg name="container_name" default="pointcloud_container"/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">
@@ -18,7 +17,7 @@
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
-      <arg name="container_name" value="$(var pointcloud_container_name)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
@@ -97,11 +96,13 @@
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
+      <arg name="node_name" value="object_association_merger_unknown_clustering"/>
     </include>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects_before_filter"/>
+      <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
     </include>
   </group>
 
@@ -113,5 +114,4 @@
       <arg name="filtering_range_param" value="$(find-pkg-share perception_launch)/config/object_recognition/detection/object_lanelet_filter.param.yaml" />
     </include>
   </group>
-
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -1,9 +1,11 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
+  <arg name="container_name" default="pointcloud_container"/>
 
   <!-- lidar based detection-->
   <group>
@@ -12,21 +14,23 @@
       <arg name="output/objects" value="lidar/objects"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
       <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="container_name" value="$(var container_name)"/>
     </include>
   </group>
 
   <!-- radar detection-->
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 
   <!-- lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="lidar/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="lidar/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -3,10 +3,10 @@
   <arg name="output/objects" default="objects"/>
 
   <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw" />
-    <arg name="input/odometry" value="/localization/kinematic_state" />
-    <arg name="output/radar_objects" value="$(var output/objects)" />
-    <arg name="update_rate_hz" value="20.0" />
-    <arg name="use_twist_compensation" value="true" />
+    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw"/>
+    <arg name="input/odometry" value="/localization/kinematic_state"/>
+    <arg name="output/radar_objects" value="$(var output/objects)"/>
+    <arg name="update_rate_hz" value="20.0"/>
+    <arg name="use_twist_compensation" value="true"/>
   </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/prediction/prediction.launch.xml b/perception_launch/launch/object_recognition/prediction/prediction.launch.xml
@@ -1,5 +1,4 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="use_vector_map" default="false" description="use vector map in prediction"/>
 
@@ -10,7 +9,6 @@
     </include>
   </group>
   <group unless="$(var use_vector_map)">
-    <include file="$(find-pkg-share naive_path_prediction)/launch/naive_path_prediction.launch.xml">
-    </include>
+    <!-- Not support without vector map -->
   </group>
 </launch>
diff --git a/perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,7 +1,6 @@
 <?xml version="1.0"?>
-
 <launch>
   <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
-    <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" />
+    <arg name="data_association_matrix_path" value="$(find-pkg-share perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
   </include>
 </launch>