From 437d1d6f6a4c848318ba1c7035d8ec8febffd405 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Wed, 29 Sep 2021 21:02:12 +0900
Subject: [PATCH] add detection by tracker (#418)

add detection by tracker
---
 .../detection/detection.launch.xml            |  4 +-
 .../lidar_based_detection.launch.xml          | 52 +++++++++++++++++--
 2 files changed, 51 insertions(+), 5 deletions(-)

diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
index 612be58c59288..bdcbda385302c 100644
--- a/perception_launch/launch/object_recognition/detection/detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -56,9 +56,9 @@
   </group>
 
   <!-- visualization -->
-  <!-- <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
+  <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
     <arg name="input" value="objects"/>
     <arg name="with_feature" value="true"/>
     <arg name="only_known_objects" value="false"/>
-  </include> -->
+  </include>
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index bbf76963815d6..ec100fdb75d5f 100644
--- a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -1,6 +1,52 @@
 <?xml version="1.0"?>
 <launch>
-  <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
-    <arg name="output/objects" value="objects" />
-  </include>
+  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+
+  <!-- Clustering-->
+  <group>
+    <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+      <arg name="output_clusters" value="clusters"/>
+      <arg name="use_pointcloud_map" value="false"/>
+    </include>
+  </group>
+
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
+
+  <!-- CenterPoint -->
+  <group>
+    <push-ros-namespace namespace="centerpoint"/>
+    <group>
+      <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml" />
+    </group>
+    <group>
+      <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
+        <arg name="input" value="objects"/>
+        <arg name="with_feature" value="true"/>
+        <arg name="only_known_objects" value="true"/>
+      </include>
+    </group>
+  </group>
+
+  <!-- Merger -->
+  <group>
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="centerpoint/objects"/>
+      <arg name="input/object1" value="detection_by_tracker/objects"/>
+      <arg name="output/object" value="objects"/>
+    </include>
+  </group>
+
+  <!-- visualization -->
+  <group>
+    <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
+      <arg name="input" value="objects"/>
+      <arg name="with_feature" value="true"/>
+      <arg name="only_known_objects" value="true"/>
+    </include>
+  </group>
 </launch>