Feature/porting camera lidar fusion (autowarefoundation#316)

* Feature/camera lidar fusion (autowarefoundation#248)

* change camera lidar fusion node

* change default mode of object recognition

* change spilit range parameter from 10 to 30 (autowarefoundation#272)

Co-authored-by: Yukihiro Saito <[email protected]>

Author: wep21

autoware_launch/launch/autoware.launch.xml

@@ -47,7 +47,7 @@
   <!-- Perception -->
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-    <arg name="mode" value="lidar" />
+    <arg name="mode" value="camera_lidar_fusion" />
   </include>
 
   <!-- Planning -->

autoware_launch/launch/logging_simulator.launch.xml

@@ -75,7 +75,7 @@
   <group>
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
-      <arg name="mode" value="lidar" />
+      <arg name="mode" value="camera_lidar_fusion" />
     </include>
   </group>
 

perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml

@@ -1,5 +1,4 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="image_raw0" default="/image_raw"/>
   <arg name="camera_info0" default="/camera_info"/>
@@ -77,67 +76,20 @@
       <arg name="input/object" value="camera_lidar_fusion/objects"/>
       <arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
       <arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
-      <arg name="split_range" value="10.0"/>
+      <arg name="split_range" value="30.0"/>
     </include>
   </group>
 
   <group>
-    <push-ros-namespace namespace="apollo"/>
-    <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
-      <arg name="output/objects" value="lidar/clusters"/>
-    </include>
-    <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-      <arg name="use_map_current" value="$(var use_vector_map)"/>
-      <arg name="input/objects" value="lidar/clusters" />
-      <arg name="output/objects" value="lidar/objects" />
-      <arg name="orientation_reliable" value="true"/>
-    </include>
-    <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
-      <arg name="input/object" value="lidar/objects"/>
-      <arg name="output/long_range_object" value="lidar/long_range_objects"/>
-      <arg name="output/short_range_object" value="lidar/short_range_objects"/>
-      <arg name="split_range" value="15.0"/>
-    </include>
-    <include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
-      <arg name="input/camera_info0" value="$(var camera_info0)"/>
-      <arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
-      <arg name="input/camera_info1" value="$(var camera_info1)"/>
-      <arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
-      <arg name="input/camera_info2" value="$(var camera_info2)"/>
-      <arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
-      <arg name="input/camera_info3" value="$(var camera_info3)"/>
-      <arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
-      <arg name="input/camera_info4" value="$(var camera_info4)"/>
-      <arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
-      <arg name="input/camera_info5" value="$(var camera_info5)"/>
-      <arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
-      <arg name="input/camera_info6" value="$(var camera_info6)"/>
-      <arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
-      <arg name="input/camera_info7" value="$(var camera_info7)"/>
-      <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
-      <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/clusters" value="lidar/short_range_objects"/>
-      <arg name="output" value="camera_lidar_fusion/short_range_objects"/>
-      <arg name="input/image0" value="$(var image_raw0)"/>
-      <arg name="input/image1" value="$(var image_raw1)"/>
-      <arg name="input/image2" value="$(var image_raw2)"/>
-      <arg name="input/image3" value="$(var image_raw3)"/>
-      <arg name="input/image4" value="$(var image_raw4)"/>
-      <arg name="input/image5" value="$(var image_raw5)"/>
-      <arg name="input/image6" value="$(var image_raw6)"/>
-      <arg name="input/image7" value="$(var image_raw7)"/>
-    </include>
-    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-      <arg name="input/object0" value="camera_lidar_fusion/short_range_objects"/>
-      <arg name="input/object1" value="lidar/long_range_objects"/>
-      <arg name="output/object" value="camera_lidar_fusion/objects"/>
+    <push-ros-namespace namespace="centerpoint"/>
+    <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
+      <arg name="output/objects" value="objects" />
     </include>
   </group>
 
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="apollo/camera_lidar_fusion/objects"/>
+    <arg name="input/object0" value="centerpoint/objects"/>
     <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="objects"/>
   </include>
-
 </launch>