feat(tier4_perception_launch): add centerpoint_vs_centerpoint-tiny la…

…unch file (#2304)

* Add centerpoint_vs_centerpoint-tiny launch file

This launch file is for showing centerpoint and centerpoint_tinymodels’ results simultaneously, making it easier to visualize and compare the performance.

Signed-off-by: YueChuCheng <maggie9907@gmail.com>

* ci(pre-commit): autofix

* Relocate folder from tier4_perception_launch to lidar_centerpoint.

Signed-off-by: YueChuCheng <maggie9907@gmail.com>

* ci(pre-commit): autofix

* Correct XML format

Signed-off-by: YueChuCheng <maggie9907@gmail.com>

* ci(pre-commit): autofix

* Remove redundant code. Add sample rosbag link provided by autoware.

Signed-off-by: YueChuCheng <maggie9907@gmail.com>

* Correct spelling mistake.

Signed-off-by: YueChuCheng <maggie9907@gmail.com>

* Rename README file

Signed-off-by: YueChuCheng <maggie9907@gmail.com>

Signed-off-by: YueChuCheng <maggie9907@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md

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+# Run lidar_centerpoint and lidar_centerpoint-tiny simultaneously
+
+This tutorial is for showing `centerpoint` and `centerpoint_tiny`models’ results simultaneously, making it easier to visualize and compare the performance.
+
+## Setup Development Environment
+
+Follow the steps in the Source Installation ([link](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/)) in Autoware doc.
+
+If you fail to build autoware environment according to lack of memory, then it is recommended to build autoware sequentially.
+
+Source the ROS 2 Galactic setup script.
+
+```bash
+source /opt/ros/galactic/setup.bash
+```
+
+Build the entire autoware repository.
+
+```bash
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers=1
+```
+
+Or you can use a constrained number of CPU to build only one package.
+
+```bash
+export MAKEFLAGS="-j 4" && MAKE_JOBS=4 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1 --packages-select PACKAGE_NAME
+```
+
+Source the package.
+
+```bash
+source install/setup.bash
+```
+
+## Data Preparation
+
+### Using rosbag dataset
+
+```bash
+ros2 bag play /YOUR/ROSBAG/PATH/ --clock 100
+```
+
+Don't forget to add `clock` inorder to sync between two rviz display.
+
+You can also use the sample rosbag provided by autoware [here](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/rosbag-replay-simulation/).
+
+If you want to merge several rosbags into one, you can refer to [this tool](https://github.com/jerry73204/rosbag2-merge).
+
+### Using realtime LiDAR dataset
+
+Set up your Ethernet connection according to 1.1 - 1.3 in [this website](http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16).
+
+Download Velodyne ROS driver
+
+```bash
+git clone -b ros2 https://github.com/ros-drivers/velodyne.git
+```
+
+Source the ROS 2 Galactic setup script.
+
+```bash
+source /opt/ros/galactic/setup.bash
+```
+
+Compile Velodyne driver
+
+```bash
+cd velodyne
+rosdep install -y --from-paths . --ignore-src --rosdistro $ROS_DISTRO
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
+```
+
+Edit the configuration file. Specify the LiDAR device IP address in `./velodyne_driver/config/VLP32C-velodyne_driver_node-params.yaml`
+
+```yaml
+velodyne_driver_node:
+  ros__parameters:
+    device_ip: 192.168.1.201 //change to your LiDAR device IP address
+    gps_time: false
+    time_offset: 0.0
+    enabled: true
+    read_once: false
+    read_fast: false
+    repeat_delay: 0.0
+    frame_id: velodyne
+    model: 32C
+    rpm: 600.0
+    port: 2368
+```
+
+Launch the velodyne driver.
+
+```bash
+# Terminal 1
+ros2 launch velodyne_driver velodyne_driver_node-VLP32C-launch.py
+```
+
+Launch the velodyne_pointcloud.
+
+```bash
+# Terminal 2
+ros2 launch velodyne_pointcloud velodyne_convert_node-VLP32C-launch.py
+```
+
+Point Cloud data will be available on topic `/velodyne_points`. You can check with `ros2 topic echo /velodyne_points`.
+
+Check [this website](http://wiki.ros.org/velodyne/Tutorials/Getting%20Started%20with%20the%20Velodyne%20VLP16) if there is any unexpected issue.
+
+## Launch file setting
+
+Several fields to check in `centerpoint_vs_centerpoint-tiny.launch.xml` before running lidar centerpoint.
+
+- `input/pointcloud` : set to the topic with input data you want to subscribe.
+- `model_path` : set to the path of the model.
+- `model_param_path` : set to the path of model's config file.
+
+## Run CenterPoint and CenterPoint-tiny simultaneously
+
+Run
+
+```bash
+ros2 launch lidar_centerpoint centerpoint_vs_centerpoint-tiny.launch.xml
+```
+
+Then you will see two rviz window show immediately. On the left is the result for lidar centerpoint tiny, and on the right is the result for lidar centerpoint.
+
+![two rviz2 display centerpoint and centerpoint_tiny](https://i.imgur.com/YAYehrf.jpg)
+
+## Troubleshooting
+
+### Bounding Box blink on rviz
+
+To avoid Bounding Boxs blinking on rviz, you can extend bbox marker lifetime.
+
+Set `marker_ptr->lifetime` and `marker.lifetime` to a longer lifetime.
+
+- `marker_ptr->lifetime` are in `PATH/autoware/src/universe/autoware.universe/common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp`
+- `marker.lifetime` are in `PATH/autoware/src/universe/autoware.universe/common/tier4_autoware_utils/include/tier4_autoware_utils/ros/marker_helper.hpp`
+
+Make sure to rebuild packages after any change.

perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/centerpoint_vs_centerpoint-tiny.launch.xml

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+<?xml version="1.0"?>
+<launch>
+  <arg name="rviz_path" default="$(find-pkg-share lidar_centerpoint)/launch/centerpoint_vs_centerpoint-tiny/rviz"/>
+  <arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud"/>
+  <arg name="score_threshold" default="0.35"/>
+  <arg name="rviz_config1" default="$(var rviz_path)/centerpoint_tiny.rviz" description="rviz config"/>
+  <arg name="rviz_config2" default="$(var rviz_path)/centerpoint.rviz" description="rviz config"/>
+
+  <set_parameter name="use_sim_time" value="true"/>
+  <group>
+    <!-- Rviz -->
+    <node pkg="rviz2" exec="rviz2" name="rviz2_centerpoint_tiny" output="screen" args="-d $(var rviz_config1)"/>
+    <node pkg="rviz2" exec="rviz2" name="rviz2_centerpoint" output="screen" args="-d $(var rviz_config2)"/>
+  </group>
+
+  <!-- CenterPoint -->
+  <group>
+    <push-ros-namespace namespace="centerpoint"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="model_name" value="centerpoint"/>
+        <arg name="model_path" value="$(find-pkg-share lidar_centerpoint)/data"/>
+        <arg name="model_param_path" value="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- CenterPoint-tiny -->
+  <group>
+    <push-ros-namespace namespace="centerpoint_tiny"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+        <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="score_threshold" value="$(var score_threshold)"/>
+        <arg name="model_name" value="centerpoint_tiny"/>
+        <arg name="model_path" value="$(find-pkg-share lidar_centerpoint)/data"/>
+        <arg name="model_param_path" value="$(find-pkg-share lidar_centerpoint)/config/$(var model_name).param.yaml"/>
+      </include>
+    </group>
+  </group>
+</launch>