fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion #5026
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…ion for Camera-LiDAR-Radar fusion Signed-off-by: scepter914 <scepter914@gmail.com>
Signed-off-by: scepter914 <scepter914@gmail.com>
…toware.universe into feat/merge_far_detection_2
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Oct 16, 2023
…ion for Camera-LiDAR-Radar fusion (autowarefoundation#5026) * fix(tier4_perception_launch): add object_merger of far_objects to fusion for Camera-LiDAR-Radar fusion Signed-off-by: scepter914 <scepter914@gmail.com> * fix conflict Signed-off-by: scepter914 <scepter914@gmail.com> --------- Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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Description
Remake PR from #4995.
This PR add
object_mergerof far_objects to fusion for Camera-LiDAR-Radar fusion and refactor according to it.Until the tracking merger can operate stably, this PR temporarily added near_object and far_object mergers to the detection side and connected the far detection pipeline to tracking.
near_objectcome from existing Camera-LiDAR-Radar fusion andfar_objectcome from radar detection.I added radar lanelets filter parameter to detection launch to use config parameter from autoware.launch
To make it easier to understand parameters, I renamed parameter names and comment.
Related links
Tests performed
Tests by rosbag.
Red objects are detection/radar/far_object.
Other objects are tracking/objects.
Grid size is 10m.
I could confirm that the long-distance detection was working properly with tracking.
Notes for reviewers
Interface changes
None
Effects on system behavior
As adding faraway detection, dynamic objects at a distance become visible, so it effects to planning behavior.
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