Merge branch 'feature/radar_fusion_launch' of ssh://github.com/scepte…

…r914/autoware.universe into feature/radar_fusion_launch
autowarefoundation · Jul 7, 2022 · ced55e4 · ced55e4
2 parents b0a655d + 54e8743
commit ced55e4
Show file tree

Hide file tree

Showing 8 changed files with 69 additions and 146 deletions.
diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
@@ -55,14 +55,14 @@
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="front_center/objects" />
+      <arg name="output/objects" value="front_center/objects"/>
     </include>
   </group>
 
   <!-- camera lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="camera_lidar_fusion/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="camera_lidar_fusion/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -1,10 +1,9 @@
 <?xml version="1.0"?>
-
 <launch>
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
 
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
@@ -102,7 +101,7 @@
   <!-- radar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 </launch>
diff --git a/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -9,7 +9,6 @@
   <arg name="container_name" default=""/>
   <arg name="use_validator" default="true" description="use obstacle_pointcloud based validator"/>
 
-
   <!-- Pointcloud map filter -->
   <group>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/pointcloud_map_filter.launch.py" if="$(var use_pointcloud_map)">

diff --git a/...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml b/...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <launch>
   <!-- lidar param -->
-  <arg name="input/pointcloud" />
+  <arg name="input/pointcloud"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
   <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
@@ -19,14 +19,14 @@
   <group>
     <push-ros-namespace namespace="radar"/>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
-      <arg name="output/objects" value="objects" />
+      <arg name="output/objects" value="objects"/>
     </include>
   </group>
 
   <!-- lidar radar fusion-->
   <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
-    <arg name="input/objects" value="lidar/objects" />
-    <arg name="input/radars" value="radar/objects" />
-    <arg name="output/objects" value="objects" />
+    <arg name="input/objects" value="lidar/objects"/>
+    <arg name="input/radars" value="radar/objects"/>
+    <arg name="output/objects" value="objects"/>
   </include>
 </launch>
diff --git a/...er4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py b/...er4_perception_launch/launch/object_recognition/detection/pointcloud_map_filter.launch.py
@@ -34,12 +34,8 @@ def __init__(self, context):
             "config/object_recognition/detection/pointcloud_map_filter.param.yaml",
         )
         with open(pointcloud_map_filter_param_path, "r") as f:
-            self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"][
-                "ros__parameters"
-            ]
-        self.use_down_sample_filter = self.pointcloud_map_filter_param[
-            "use_down_sample_filter"
-        ]
+            self.pointcloud_map_filter_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+        self.use_down_sample_filter = self.pointcloud_map_filter_param["use_down_sample_filter"]
         self.voxel_size = self.pointcloud_map_filter_param["down_sample_voxel_size"]
         self.distance_threshold = self.pointcloud_map_filter_param["distance_threshold"]
 
@@ -75,7 +71,9 @@ def create_normal_pipeline(self):
 
     def create_down_sample_pipeline(self):
         components = []
-        down_sample_topic = "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud"
+        down_sample_topic = (
+            "/perception/obstacle_segmentation/pointcloud_map_filtered/downsampled/pointcloud"
+        )
         components.append(
             ComposableNode(
                 package="pointcloud_preprocessor",
@@ -93,11 +91,7 @@ def create_down_sample_pipeline(self):
                     }
                 ],
                 extra_arguments=[
-                    {
-                        "use_intra_process_comms": LaunchConfiguration(
-                            "use_intra_process"
-                        )
-                    }
+                    {"use_intra_process_comms": LaunchConfiguration("use_intra_process")}
                 ],
             ),
         )
@@ -149,9 +143,7 @@ def generate_launch_description():
     launch_arguments = []
 
     def add_launch_arg(name: str, default_value=None):
-        launch_arguments.append(
-            DeclareLaunchArgument(name, default_value=default_value)
-        )
+        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
 
     add_launch_arg("input_topic", "")
     add_launch_arg("output_topic", "")

diff --git a/...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml b/...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
@@ -3,10 +3,10 @@
   <arg name="output/objects" default="objects"/>
 
   <include file="$(find-pkg-share radar_tracks_msgs_converter)/launch/radar_tracks_msgs_converter.launch.xml">
-    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw" />
-    <arg name="input/odometry" value="/localization/kinematic_state" />
-    <arg name="output/radar_objects" value="$(var output/objects)" />
-    <arg name="update_rate_hz" value="20.0" />
-    <arg name="use_twist_compensation" value="true" />
+    <arg name="input/radar_objects" value="/sensing/radar/front_center/objects_raw"/>
+    <arg name="input/odometry" value="/localization/kinematic_state"/>
+    <arg name="output/radar_objects" value="$(var output/objects)"/>
+    <arg name="update_rate_hz" value="20.0"/>
+    <arg name="use_twist_compensation" value="true"/>
   </include>
 </launch>