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fix: change the default mode of perception.launch #409

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merged 3 commits into from
Feb 18, 2022
Merged

fix: change the default mode of perception.launch #409

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bf05b36
fix: change the default mode of perception.launch
Feb 18, 2022
df11691
chore: remove unnecessary comments
Feb 18, 2022
f39a614
chore: remove default values
Feb 18, 2022
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4 changes: 1 addition & 3 deletions launch/tier4_autoware_launch/launch/autoware.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,7 @@

<!-- Perception -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<!-- options for mode: camera_lidar_fusion, lidar, camera -->
<arg name="mode" value="camera_lidar_fusion" />
<arg name="mode" value="lidar" />
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -70,7 +69,6 @@

<!-- Control -->
<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py">
<!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
<arg name="lateral_controller_mode" value="mpc_follower" />
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
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4 changes: 1 addition & 3 deletions launch/tier4_autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -84,8 +84,7 @@
<!-- Perception -->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml" if="$(var perception)">
<!-- options for mode: camera_lidar_fusion, lidar, camera -->
<arg name="mode" value="camera_lidar_fusion" />
<arg name="mode" value="lidar" />
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -102,7 +101,6 @@
<!-- Control -->
<group>
<include file="$(find-pkg-share tier4_control_launch)/launch/control.launch.py" if="$(var control)">
<!-- options for lateral_controller_mode: mpc_follower, pure_pursuit -->
<arg name="lateral_controller_mode" value="mpc_follower" />
<arg name="vehicle_info_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
</include>
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3 changes: 1 addition & 2 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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@@ -1,9 +1,8 @@
<?xml version="1.0"?>

<launch>
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="mode" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<!-- "camera_lidar_fusion", "lidar" or "camera" -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default=""/>
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2 changes: 1 addition & 1 deletion launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<launch>
<arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml" />
<!-- common parameters -->
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="mode" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
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