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fix(tier4_perception_launch): add group tag (tier4#1238)
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* fix(tier4_perception_launch): add group tag

Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>

* fix missing tag

Signed-off-by: Xinyu Wang <xinyu.wang@tier4.jp>
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@angry-crab @boyali
angry-crab authored and boyali committed Sep 28, 2022
1 parent 41b187a commit db69046
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Showing 4 changed files with 161 additions and 108 deletions.
197 changes: 114 additions & 83 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 @@ -54,71 +54,88 @@
<!-- Clustering -->
<group>
<push-ros-namespace namespace="clustering"/>
<let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
<let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_pointcloud_map" value="false"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="node_name" value="shape_estimation_clustering"/>
</include>
<group>
<let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
<let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_pointcloud_map" value="false"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="node_name" value="shape_estimation_clustering"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
<arg name="node_name" value="detected_object_feature_remover_clustering"/>
</include>
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
<arg name="node_name" value="detected_object_feature_remover_clustering"/>
</include>
</group>
<!-- Fusion camera-lidar to classify -->
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="clusters"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output/clusters" value="camera_lidar_fusion/clusters"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="camera_lidar_fusion/clusters"/>
<arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
<arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
</include>
<group>
<include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input/camera_info0" value="$(var camera_info0)"/>
<arg name="input/rois0" value="/perception/object_recognition/detection/rois0"/>
<arg name="input/camera_info1" value="$(var camera_info1)"/>
<arg name="input/rois1" value="/perception/object_recognition/detection/rois1"/>
<arg name="input/camera_info2" value="$(var camera_info2)"/>
<arg name="input/rois2" value="/perception/object_recognition/detection/rois2"/>
<arg name="input/camera_info3" value="$(var camera_info3)"/>
<arg name="input/rois3" value="/perception/object_recognition/detection/rois3"/>
<arg name="input/camera_info4" value="$(var camera_info4)"/>
<arg name="input/rois4" value="/perception/object_recognition/detection/rois4"/>
<arg name="input/camera_info5" value="$(var camera_info5)"/>
<arg name="input/rois5" value="/perception/object_recognition/detection/rois5"/>
<arg name="input/camera_info6" value="$(var camera_info6)"/>
<arg name="input/rois6" value="/perception/object_recognition/detection/rois6"/>
<arg name="input/camera_info7" value="$(var camera_info7)"/>
<arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
<arg name="input/rois_number" value="$(var image_number)"/>
<arg name="input/clusters" value="clusters"/>
<arg name="input/image0" value="$(var image_raw0)"/>
<arg name="input/image1" value="$(var image_raw1)"/>
<arg name="input/image2" value="$(var image_raw2)"/>
<arg name="input/image3" value="$(var image_raw3)"/>
<arg name="input/image4" value="$(var image_raw4)"/>
<arg name="input/image5" value="$(var image_raw5)"/>
<arg name="input/image6" value="$(var image_raw6)"/>
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="output/clusters" value="camera_lidar_fusion/clusters"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="camera_lidar_fusion/clusters"/>
<arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
<arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
<arg name="output" value="camera_lidar_fusion/objects"/>
<arg name="node_name" value="detected_object_feature_camera_lidar_fusion"/>
</include>
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
<arg name="input/object" value="camera_lidar_fusion/objects"/>
<arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
<arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
<arg name="split_range" value="30.0"/>
</include>
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
<arg name="output" value="camera_lidar_fusion/objects"/>
<arg name="node_name" value="detected_object_feature_camera_lidar_fusion"/>
</include>
</group>

<group>
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
<arg name="input/object" value="camera_lidar_fusion/objects"/>
<arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
<arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
<arg name="split_range" value="30.0"/>
</include>
</group>
</group>

<!-- DetectionByTracker -->
Expand All @@ -143,11 +160,17 @@
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="output/objects" value="objects_with_feature"/>
<arg name="use_vehicle_reference_yaw" value="true"/>
</include>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
</group>

<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
Expand All @@ -167,26 +190,34 @@
</group>

<!-- Merger -->
<let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
<let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger/input/objects)"/>
<arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
<arg name="output/object" value="camera_lidar_fusion/objects"/>
<arg name="node_name" value="object_association_merger_camera_lidar_fusion"/>
</include>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="detection_by_tracker/objects"/>
<arg name="input/object1" value="camera_lidar_fusion/objects"/>
<arg name="output/object" value="temporary_merged_objects"/>
<arg name="node_name" value="object_association_merger_detection_by_tracker"/>
</include>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="clustering/objects"/>
<arg name="output/object" value="objects_before_filter"/>
<arg name="node_name" value="object_association_merger_unknown_clustering"/>
</include>
<group>
<let name="merger/input/objects" value="$(var lidar_detection_model)/validation/objects" if="$(var use_validator)"/>
<let name="merger/input/objects" value="$(var lidar_detection_model)/objects" unless="$(var use_validator)"/>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="$(var merger/input/objects)"/>
<arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
<arg name="output/object" value="camera_lidar_fusion/objects"/>
<arg name="node_name" value="object_association_merger_camera_lidar_fusion"/>
</include>
</group>

<group>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="detection_by_tracker/objects"/>
<arg name="input/object1" value="camera_lidar_fusion/objects"/>
<arg name="output/object" value="temporary_merged_objects"/>
<arg name="node_name" value="object_association_merger_detection_by_tracker"/>
</include>
</group>

<group>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="clustering/objects"/>
<arg name="output/object" value="objects_before_filter"/>
<arg name="node_name" value="object_association_merger_unknown_clustering"/>
</include>
</group>

<!-- Filter -->
<group>
Expand Down
45 changes: 31 additions & 14 deletions ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Expand Up @@ -26,20 +26,28 @@
<push-ros-namespace namespace="clustering"/>
<let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
<let name="clustering/input/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)" unless="$(var use_pointcloud_map)"/>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_pointcloud_map" value="false"/>
</include>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
</include>
<group>
<include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
<arg name="output_clusters" value="clusters"/>
<arg name="use_pointcloud_map" value="false"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
</include>
</group>

<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
</include>
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
</include>
</group>
</group>

<!-- DetectionByTracker -->
Expand All @@ -65,11 +73,17 @@
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
</include>
</group>

<group>
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="output/objects" value="objects_with_feature"/>
<arg name="use_vehicle_reference_yaw" value="true"/>
</include>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
</group>

<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="objects"/>
Expand Down Expand Up @@ -98,6 +112,9 @@
<arg name="output/object" value="temporary_merged_objects"/>
<arg name="node_name" value="object_association_merger_unknown_clustering"/>
</include>
</group>

<group>
<include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
<arg name="input/object0" value="temporary_merged_objects"/>
<arg name="input/object1" value="detection_by_tracker/objects"/>
Expand Down
8 changes: 5 additions & 3 deletions launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,6 +1,8 @@
<?xml version="1.0"?>
<launch>
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
<arg name="data_association_matrix_path" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
</include>
<group>
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
<arg name="data_association_matrix_path" value="$(find-pkg-share tier4_perception_launch)/config/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"/>
</include>
</group>
</launch>
19 changes: 11 additions & 8 deletions 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 @@ -19,13 +19,16 @@
</group>

<!-- classification -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
<arg name="input/image" value="$(var input/image)"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
</include>

<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
<arg name="input/image" value="$(var input/image)"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
</include>
</group>
<!-- visualizer -->
<include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
<group>
<include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_map_visualizer.launch.xml"/>
</group>
</launch>

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