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fix(traffic_light): fix traffic_light_arbiter pipeline #4393

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merged 3 commits into from
Jul 27, 2023
Merged

fix(traffic_light): fix traffic_light_arbiter pipeline #4393

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4fb4d98
fix(traffic_light): fix traffic_light_arbiter pipeline
1222-takeshi Jul 26, 2023
5e3fd7e
style(pre-commit): autofix
pre-commit-ci[bot] Jul 26, 2023
308a641
fix: output topic name
1222-takeshi Jul 27, 2023
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3 changes: 2 additions & 1 deletion launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
<arg name="classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data/traffic_light_classifier_mobilenetv2_batch_6.onnx" description="classifier onnx model path"/>
<arg name="input/cloud" default="/sensing/lidar/top/pointcloud_raw" description="point cloud for occlusion prediction"/>
<arg name="internal/traffic_signals" default="/perception/traffic_light_recognition/internal/traffic_signals"/>
<arg name="external/traffic_signals" default="/perception/traffic_light_recognition/external/traffic_signals"/>
<arg name="output/traffic_signals" default="/perception/traffic_light_recognition/traffic_signals"/>
<arg name="use_crosswalk_traffic_light_estimator" default="true" description="output pedestrian's traffic light signals"/>
<arg name="image_number" default="1" description="choose image raw number(1-2)"/>
Expand Down Expand Up @@ -130,7 +131,7 @@
<group>
<include file="$(find-pkg-share traffic_light_arbiter)/launch/traffic_light_arbiter.launch.xml">
<arg name="perception_traffic_signals" value="$(var internal/traffic_signals)"/>
<arg name="external_traffic_signals" value="/external/traffic_light_recognition/traffic_signals"/>
<arg name="external_traffic_signals" value="$(var external/traffic_signals)"/>
<arg name="output_traffic_signals" value="$(var output/traffic_signals)"/>
</include>
</group>
Expand Down
10 changes: 7 additions & 3 deletions perception/traffic_light_arbiter/launch/traffic_light_arbiter.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,11 +1,15 @@
<launch>
<arg name="perception_traffic_signals" default="/internal/traffic_signals"/>
<arg name="external_traffic_signals" default="/external/traffic_signals"/>
<arg name="output_traffic_signals" default="/traffic_light_arbiter/traffic_signals"/>

<push-ros-namespace namespace="traffic_light_arbiter"/>
<node_container pkg="rclcpp_components" exec="component_container" name="container" namespace="">
<composable_node pkg="traffic_light_arbiter" plugin="TrafficLightArbiter" name="arbiter">
<remap from="~/sub/vector_map" to="/map/vector_map"/>
<remap from="~/sub/perception_traffic_signals" to="/perception/traffic_light_recognition/traffic_signals"/>
<remap from="~/sub/external_traffic_signals" to="/external/traffic_light_recognition/traffic_signals"/>
<remap from="~/pub/traffic_signals" to="/perception/traffic_light_arbiter/traffic_signals"/>
<remap from="~/sub/perception_traffic_signals" to="$(var perception_traffic_signals)"/>
<remap from="~/sub/external_traffic_signals" to="$(var external_traffic_signals)"/>
<remap from="~/pub/traffic_signals" to="$(var output_traffic_signals)"/>
</composable_node>
</node_container>
</launch>