refactor(tier4_perception_launch): refactor object_recognition/detection launcher #6152
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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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…ion launcher (autowarefoundation#6152) * refactor: align mode parameters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: cluster detector and merger Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: separate object merger launches Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: radar detector module Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: lidar detector modules Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix mis spell, align typo, clean-up Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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…ion launcher (autowarefoundation#6152) * refactor: align mode parameters Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: cluster detector and merger Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: separate object merger launches Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: radar detector module Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * refactor: lidar detector modules Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * chore: fix mis spell, align typo, clean-up Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
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Description
Refactoring object detector launchers.
On existing perception modes, there are common parts and were duplicated.
The common detector launch configurations are defined separately (in
detectorsub-folder).Each mode will call combinations of detectors and its specific object merger (in
mergersub-folder).Tests performed
checked each perception_mode (
camera_lidar_radar_fusion,camera_lidar_fusion,lidar_radar_fusion,lidar,radar) and lidar_detection_model (centerpoint,apollo,pointpainting) are working.topic list was also compared before and after and check both are identical.
Effects on system behavior
Exactly same.
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