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fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module #1312

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merged 2 commits into from
Jul 12, 2022
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fix(tier4_perception_launch): pass pointcloud_container params to pointcloud_map_filter in detection module #1312

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ecac340
fix(tier4_perception_launch): pass pointcloud_container to detection …
Jul 12, 2022
86c31f2
fix(tier4_perception_launch): container name in detection
Jul 12, 2022
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4 changes: 2 additions & 2 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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 -->
Expand All @@ -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>

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4 changes: 4 additions & 0 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
<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"/>
Expand Down Expand Up @@ -48,6 +50,8 @@
<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>

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10 changes: 10 additions & 0 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<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"/>
Expand Down Expand Up @@ -51,6 +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>

Expand All @@ -77,6 +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>

Expand All @@ -86,6 +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>

Expand All @@ -95,6 +103,8 @@
<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>

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4 changes: 2 additions & 2 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@
<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"/>

<!-- Pointcloud map filter -->
Expand All @@ -17,7 +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>

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4 changes: 4 additions & 0 deletions ...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@
<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>
Expand All @@ -12,6 +14,8 @@
<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>

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2 changes: 2 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -92,6 +92,8 @@
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<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 pointcloud_container_name)"/>
</include>
</group>
<!-- tracking module -->
Expand Down