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chore(tier4_perception_launch): perception launcher refactoring (autowarefoundation#7194)
* fix: reorder object merger launchers Signed-off-by: Taekjin LEE <[email protected]> * fix: separate detection by tracker launch Signed-off-by: Taekjin LEE <[email protected]> * fix: refactor tracking launch Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * fix: input pointcloud topic names, mot input channels Signed-off-by: Taekjin LEE <[email protected]> * feat: separate filters Signed-off-by: Taekjin LEE <[email protected]> * fix: object validator to modular Signed-off-by: Taekjin LEE <[email protected]> * fix: implement filters on mergers Signed-off-by: Taekjin LEE <[email protected]> * fix lidar only mode chore: simplify mode check Signed-off-by: Taekjin LEE <[email protected]> * fix: fix a bug when use_radar_tracking_fusion is fault Signed-off-by: Taekjin LEE <[email protected]> * fix: rename radar detector to filter Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent 67bfa58 commit 221ce4b

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-243
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

+36-6
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
<launch>
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<!-- Interface parameters -->
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<arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
5+
<arg name="use_detection_by_tracker"/>
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<!-- Lidar parameters -->
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<arg name="input/pointcloud"/>
@@ -65,10 +66,10 @@
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
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</include>
68-
<!-- Radar detector-->
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<!-- Radar detector/filter-->
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<group>
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<push-ros-namespace namespace="radar"/>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
72+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
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<arg name="input/radar" value="$(var input/radar)"/>
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<arg name="output/objects" value="far_objects"/>
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<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -78,6 +79,12 @@
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<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
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</include>
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</group>
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<!-- DetectionByTracker -->
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<group if="$(var use_detection_by_tracker)">
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
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<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
86+
</include>
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</group>
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<!-- Object merger -->
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
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<arg name="image_raw0" value="$(var image_raw0)"/>
@@ -98,6 +105,8 @@
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<arg name="camera_info7" value="$(var camera_info7)"/>
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<arg name="image_number" value="$(var image_number)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
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<arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
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<arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
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<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
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<arg name="use_object_filter" value="$(var use_object_filter)"/>
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<arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
@@ -138,6 +147,12 @@
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<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
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</include>
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<!-- DetectionByTracker -->
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<group if="$(var use_detection_by_tracker)">
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
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<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
154+
</include>
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</group>
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<!-- Object merger -->
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
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<arg name="image_raw0" value="$(var image_raw0)"/>
@@ -159,16 +174,17 @@
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<arg name="image_number" value="$(var image_number)"/>
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<arg name="use_object_filter" value="$(var use_object_filter)"/>
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<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
177+
<arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
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<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
163179
</include>
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</group>
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<!-- Lidar-Radar fusion based detection -->
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<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
168-
<!-- Radar detector-->
184+
<!-- Radar detector/filter-->
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<group>
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<push-ros-namespace namespace="radar"/>
171-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
187+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
172188
<arg name="input/radar" value="$(var input/radar)"/>
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<arg name="output/objects" value="far_objects"/>
174190
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
@@ -189,10 +205,17 @@
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<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
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<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
191207
</include>
208+
<!-- DetectionByTracker -->
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<group if="$(var use_detection_by_tracker)">
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
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<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
212+
</include>
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</group>
192214
<!-- Lidar object merger -->
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
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<arg name="output/objects" value="lidar/objects"/>
195217
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
218+
<arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
196219
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
197220
<arg name="use_object_filter" value="$(var use_object_filter)"/>
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</include>
@@ -217,18 +240,25 @@
217240
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
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<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
219242
</include>
243+
<!-- DetectionByTracker -->
244+
<group if="$(var use_detection_by_tracker)">
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
246+
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
247+
</include>
248+
</group>
220249
<!-- Lidar object merger -->
221250
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
222251
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
252+
<arg name="use_detection_by_tracker" value="$(var use_detection_by_tracker)"/>
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<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
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<arg name="use_object_filter" value="$(var use_object_filter)"/>
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</include>
226256
</group>
227257

228258
<!-- Radar based detection -->
229259
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
230-
<!-- Radar detector-->
231-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
260+
<!-- Radar detector/filter-->
261+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
232262
<arg name="input/radar" value="$(var input/radar)"/>
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<arg name="output/objects" value="objects"/>
234264
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

+1-9
Original file line numberDiff line numberDiff line change
@@ -94,7 +94,7 @@
9494

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<!-- Pointcloud filter -->
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<group>
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
97+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
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<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
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<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
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<arg name="use_intra_process" value="true"/>
@@ -234,12 +234,4 @@
234234
</group>
235235
</group>
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</group>
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<!-- DetectionByTracker -->
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<group if="$(var use_detection_by_tracker)">
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<push-ros-namespace namespace="detection_by_tracker"/>
241-
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
242-
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
243-
</include>
244-
</group>
245237
</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml

+1-9
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@@ -6,7 +6,7 @@
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<!-- Pointcloud filter -->
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<group>
9-
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py">
9+
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
1010
<arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
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<arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
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<arg name="use_intra_process" value="true"/>
@@ -45,12 +45,4 @@
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</include>
4646
</group>
4747
</group>
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<!-- DetectionByTracker -->
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<group if="$(var use_detection_by_tracker)">
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<push-ros-namespace namespace="detection_by_tracker"/>
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<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
53-
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
54-
</include>
55-
</group>
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</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml

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@@ -0,0 +1,10 @@
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<?xml version="1.0"?>
2+
<launch>
3+
<!-- DetectionByTracker -->
4+
<group>
5+
<push-ros-namespace namespace="detection_by_tracker"/>
6+
<include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
7+
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
8+
</include>
9+
</group>
10+
</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_filter.launch.xml

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@@ -0,0 +1,25 @@
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<?xml version="1.0"?>
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<launch>
3+
<!-- Pipeline junctions -->
4+
<arg name="objects_filter_method" default="lanelet_filter" description="lanelet_filter or position_filter"/>
5+
6+
<!-- external interfaces -->
7+
<arg name="input/objects" default="clustering/camera_lidar_fusion/objects"/>
8+
<arg name="output/objects" default="clustering/camera_lidar_fusion/filtered/objects"/>
9+
10+
<!-- Filter -->
11+
<group if="$(eval &quot;'$(var objects_filter_method)'=='lanelet_filter'&quot;)">
12+
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
13+
<arg name="input/object" value="$(var input/objects)"/>
14+
<arg name="output/object" value="$(var output/objects)"/>
15+
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_lanelet_filter_param_path)"/>
16+
</include>
17+
</group>
18+
<group if="$(eval &quot;'$(var objects_filter_method)'=='position_filter'&quot;)">
19+
<include file="$(find-pkg-share detected_object_validation)/launch/object_position_filter.launch.xml">
20+
<arg name="input/object" value="$(var input/objects)"/>
21+
<arg name="output/object" value="$(var output/objects)"/>
22+
<arg name="filtering_range_param" value="$(var object_recognition_detection_object_position_filter_param_path)"/>
23+
</include>
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</group>
25+
</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/object_validator.launch.xml

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@@ -0,0 +1,26 @@
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<?xml version="1.0"?>
2+
<launch>
3+
<!-- Pipeline junctions -->
4+
<arg name="objects_validation_method" default="obstacle_pointcloud" description="obstacle_pointcloud or occupancy_grid"/>
5+
6+
<!-- external interfaces -->
7+
<arg name="input/obstacle_pointcloud" default="pointcloud_map_filtered/pointcloud" description="Only required when 'obstacle_pointcloud'"/>
8+
<arg name="input/objects" default="centerpoint/objects"/>
9+
<arg name="output/objects" default="centerpoint/validation/objects"/>
10+
11+
<!-- Validator -->
12+
<group if="$(eval &quot;'$(var objects_validation_method)'=='obstacle_pointcloud'&quot;)">
13+
<include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
14+
<arg name="input/detected_objects" value="$(var input/objects)"/>
15+
<arg name="input/obstacle_pointcloud" value="$(var input/obstacle_pointcloud)"/>
16+
<arg name="output/objects" value="$(var output/objects)"/>
17+
<arg name="obstacle_pointcloud_based_validator_param_path" value="$(var object_recognition_detection_obstacle_pointcloud_based_validator_param_path)"/>
18+
</include>
19+
</group>
20+
<group if="$(eval &quot;'$(var objects_validation_method)'=='occupancy_grid'&quot;)">
21+
<include file="$(find-pkg-share detected_object_validation)/launch/occupancy_grid_based_validator.launch.xml">
22+
<arg name="input/detected_objects" value="$(var input/objects)"/>
23+
<arg name="output/objects" value="$(var output/objects)"/>
24+
</include>
25+
</group>
26+
</launch>

‎launch/tier4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py ‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py

File renamed without changes.

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml ‎launch/tier4_perception_launch/launch/object_recognition/detection/filter/radar_filter.launch.xml

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@@ -1,14 +1,17 @@
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<?xml version="1.0"?>
22
<launch>
3-
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
4-
<arg name="output/objects" default="far_objects"/>
3+
<!-- Parameters -->
54
<arg name="radar_crossing_objects_noise_filter_param_path"/>
65
<arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
76
<arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
87
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
98
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
109

11-
<!-- Detection for far dynamic objects -->
10+
<!-- External interfaces -->
11+
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
12+
<arg name="output/objects" default="far_objects"/>
13+
14+
<!-- Radar filter pipeline -->
1215
<include file="$(find-pkg-share radar_crossing_objects_noise_filter)/launch/radar_crossing_objects_noise_filter.launch.xml">
1316
<arg name="input/objects" value="$(var input/radar)"/>
1417
<arg name="output/noise_objects" value="noise_objects"/>

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