feat(autoware_launch): move config from autoware.universe for perception

autoware_launch/CMakeLists.txt

@@ -13,4 +13,5 @@ ament_auto_package(
   INSTALL_TO_SHARE
   launch
   rviz
+  config
 )

autoware_launch/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml

@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false

autoware_launch/config/perception/object_recognition/detection/object_position_filter.param.yaml

@@ -0,0 +1,16 @@
+/**:
+  ros__parameters:
+    filter_target_label:
+      UNKNOWN : true
+      CAR : false
+      TRUCK : false
+      BUS : false
+      TRAILER : false
+      MOTORCYCLE : false
+      BICYCLE : false
+      PEDESTRIAN : false
+
+    upper_bound_x: 100.0
+    lower_bound_x: 0.0
+    upper_bound_y: 10.0
+    lower_bound_y: -10.0

autoware_launch/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml

@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    use_down_sample_filter: False
+    down_sample_voxel_size: 0.1
+    distance_threshold: 0.5

autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml

@@ -0,0 +1,66 @@
+/**:
+  ros__parameters:
+    can_assign_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN <-Measurement
+      [1,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN <-Tracker
+       0,       1,   1,     1,    1,       0,         0,      0,         #CAR
+       0,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
+       0,       1,   1,     1,    1,       0,         0,      0,         #BUS
+       0,       1,   1,     1,    1,       0,         0,      0,         #TRAILER
+       0,       0,   0,     0,    0,       1,         1,      1,         #MOTORBIKE
+       0,       0,   0,     0,    0,       1,         1,      1,         #BICYCLE
+       0,       0,   0,     0,    0,       1,         1,      1]         #PEDESTRIAN
+
+    max_dist_matrix:
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [4.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
+       3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
+    max_area_matrix:
+      # NOTE: The size of truck is 12 m length x 3 m width.
+      # NOTE: The size of trailer is 20 m length x 3 m width.
+      #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
+        [100.00,   100.00,   100.00,   100.00,   100.00,    100.00,    100.00,   100.00,   #UNKNOWN
+          12.10,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #CAR
+          36.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRUCK
+          60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #BUS
+          60.00,    12.10,    36.00,    60.00,    60.00,  10000.00,  10000.00, 10000.00,   #TRAILER
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
+    min_area_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN
+        3.600,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #CAR
+        6.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRUCK
+       10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #BUS
+       10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #MOTORBIKE
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #BICYCLE
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100]      #PEDESTRIAN
+    max_rad_matrix: # If value is greater than pi, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+      [3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #UNKNOWN
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #CAR
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRUCK
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #BUS
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRAILER
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #MOTORBIKE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #BICYCLE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
+
+    min_iou_matrix: # If value is negative, it will be ignored.
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [0.0001,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
+          0.1,  0.1,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
+          0.1,  0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
+          0.1,  0.1,   0.1,   0.1,    0.1,      0.1,       0.1,  0.0001]       #PEDESTRIAN

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml

@@ -0,0 +1,30 @@
+pcl_grid_map_extraction:
+  num_processing_threads: 12
+  cloud_transform:
+    translation:
+      x: 0.0
+      y: 0.0
+      z: 0.0
+    rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence
+      r: 0.0
+      p: 0.0
+      y: 0.0
+  cluster_extraction:
+    cluster_tolerance: 0.2
+    min_num_points: 3
+    max_num_points: 1000000
+  outlier_removal:
+    is_remove_outliers: false
+    mean_K: 10
+    stddev_threshold: 1.0
+  downsampling:
+    is_downsample_cloud: false
+    voxel_size:
+      x: 0.02
+      y: 0.02
+      z: 0.02
+  grid_map:
+    min_num_points_per_cell: 3
+    resolution: 0.3
+    height_type: 1
+    height_thresh: 1.0

autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml

@@ -0,0 +1,31 @@
+/**:
+  ros__parameters:
+    additional_lidars: []
+    ransac_input_topics: []
+    use_single_frame_filter: False
+    use_time_series_filter: True
+
+    common_crop_box_filter:
+      parameters:
+        min_x: -50.0
+        max_x: 100.0
+        min_y: -50.0
+        max_y: 50.0
+        max_z: 2.5  # recommended 2.5 for non elevation_grid_mode
+        min_z: -2.5 # recommended 0.0 for non elevation_grid_mode
+        negative: False
+
+    common_ground_filter:
+      plugin: "ground_segmentation::ScanGroundFilterComponent"
+      parameters:
+        global_slope_max_angle_deg: 10.0
+        local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode
+        split_points_distance_tolerance: 0.2
+        use_virtual_ground_point: True
+        split_height_distance: 0.2
+        non_ground_height_threshold: 0.20
+        grid_size_m: 0.1
+        grid_mode_switch_radius: 20.0
+        gnd_grid_buffer_size: 4
+        detection_range_z_max: 2.5
+        elevation_grid_mode: true

autoware_launch/launch/autoware.launch.xml

@@ -101,7 +101,7 @@
 
   <!-- Perception -->
   <group if="$(var launch_perception)">
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_perception_component.launch.xml">
       <arg name="mode" value="lidar"/>
       <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
       <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="mode"/>
+  <arg name="vehicle_param_file"/>
+  <arg name="use_pointcloud_container"/>
+  <arg name="pointcloud_container_name"/>
+  <arg name="enable_fine_detection"/>
+
+  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
+    <arg name="mode" value="$(var mode)"/>
+    <arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+
+    <arg
+      name="object_recognition_detection_object_lanelet_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_lanelet_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_object_position_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/object_position_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_detection_pointcloud_map_filter_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/detection/pointcloud_map_filter.param.yaml"
+    />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml"
+    />
+    <arg
+      name="obstacle_segmentation_ground_segmentation_elevation_map_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/obstacle_segmentation/ground_segmentation/elevation_map_parameters.yaml"
+    />
+  </include>
+</launch>