feat: move empty_objects_publisher (#259)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
tier4 · Apr 4, 2022 · fcab1f7 · fcab1f7
1 parent bb0a6e9
commit fcab1f7
Showing 1 changed file with 8 additions and 0 deletions.
diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
@@ -46,6 +46,14 @@
       </group>
     </group>
 
+    <!-- publish empty objects instead of object recognition module -->
+    <group unless="$(var perception/enable_object_recognition)">
+      <push-ros-namespace namespace="object_recognition"/>
+      <node pkg="dummy_perception_publisher" exec="empty_objects_publisher" name="empty_objects_publisher" output="screen">
+        <remap from="~/output/objects" to="/perception/object_recognition/objects" />
+      </node>
+    </group>
+
     <!-- object segmentation module -->
     <group>
       <push-ros-namespace namespace="occupancy_grid_map"/>