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feat(perception_launch): add data_path arg to perception launch #5069

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merged 5 commits into from
Sep 28, 2023
Merged

feat(perception_launch): add data_path arg to perception launch #5069

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feat(perception_launch): add var data_path to perception.launch
lexavtanke Sep 20, 2023
0fdcc95
feat(perception_launch): update default center_point_model_path
lexavtanke Sep 21, 2023
2aaedd9
Merge branch 'autowarefoundation:main' into add-data-path-arg-to-perc…
lexavtanke Sep 21, 2023
a0cadfb
Merge branch 'main' into add-data-path-arg-to-perception-launch
lexavtanke Sep 25, 2023
9e621c6
Merge branch 'main' into add-data-path-arg-to-perception-launch
lexavtanke Sep 28, 2023
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2 changes: 1 addition & 1 deletion ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Expand Up @@ -10,7 +10,7 @@
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
<arg name="lidar_detection_score_threshold" default="0.35"/>
<arg name="centerpoint_model_name" default="centerpoint_tiny"/>
<arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
<arg name="lidar_model_param_path" default="$(find-pkg-share lidar_centerpoint)/config"/>
<arg name="objects_validation_method" default="obstacle_pointcloud"/>
<arg name="objects_filter_method" default="lanelet_filter"/>
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7 changes: 4 additions & 3 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -25,11 +25,12 @@

<!-- CenterPoint model parameters -->
<arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
<arg name="centerpoint_model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>

<!-- Common parameters -->
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
<arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
Expand Down Expand Up @@ -78,11 +79,11 @@
<arg name="traffic_light_image_number" default="1" description="choose traffic light image raw number(1-2)"/>
<arg
name="traffic_light_fine_detector_model_path"
default="$(find-pkg-share traffic_light_fine_detector)/data"
default="$(var data_path)/traffic_light_fine_detector"
description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"
/>
<arg name="traffic_light_fine_detector_model_name" default="tlr_yolox_s_batch_6" description="options: `tlr_yolox_s_batch_**`. The batch number must be either one of 1, 4, 6"/>
<arg name="traffic_light_classifier_model_path" default="$(find-pkg-share traffic_light_classifier)/data" description="classifier onnx model path"/>
<arg name="traffic_light_classifier_model_path" default="$(var data_path)/traffic_light_classifier" description="classifier onnx model path"/>
<arg
name="traffic_light_classifier_model_name"
default="traffic_light_classifier_mobilenetv2_batch_6"
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