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refactor(tier4_perception_launch): refactor perception launcher #5630

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merged 1 commit into from
Dec 4, 2023
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refactor(tier4_perception_launch): refactor perception launcher #5630

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2 changes: 0 additions & 2 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,8 @@
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="container_name" default="pointcloud_container"/>

<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="score_threshold" default="0.35"/>

<arg name="use_object_filter" default="true" description="use object filter"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
<arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
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5 changes: 1 addition & 4 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -70,11 +70,9 @@
<arg name="trust_object_distance" value="$(var trust_object_distance)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
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<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
</group>

Expand Down Expand Up @@ -120,7 +118,6 @@
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
</include>
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