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feat(tier4_perception_launch): add radar launcher #1263

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merged 4 commits into from
Jul 7, 2022
Merged

feat(tier4_perception_launch): add radar launcher #1263

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e8bcab5
feat(tier4_perception_launch): add radar launcher
scepter914 Jul 6, 2022
54e8743
ci(pre-commit): autofix
pre-commit-ci[bot] Jul 6, 2022
b0a655d
merge main branch
scepter914 Jul 7, 2022
ced55e4
Merge branch 'feature/radar_fusion_launch' of ssh://github.com/scepte…
scepter914 Jul 7, 2022
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3 changes: 2 additions & 1 deletion ...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 @@ -2,6 +2,7 @@
<launch>
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="output/objects" default="objects"/>
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default="/image_raw1"/>
Expand Down Expand Up @@ -184,7 +185,7 @@
<group>
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="objects"/>
<arg name="output/object" value="$(var output/objects)"/>
</include>
</group>
</launch>
68 changes: 68 additions & 0 deletions .../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
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@@ -0,0 +1,68 @@
<?xml version="1.0"?>
<launch>
<!-- lidar param -->
<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"/>

<!-- camera param -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default="/image_raw1"/>
<arg name="camera_info1" default="/camera_info1"/>
<arg name="image_raw2" default="/image_raw2"/>
<arg name="camera_info2" default="/camera_info2"/>
<arg name="image_raw3" default="/image_raw3"/>
<arg name="camera_info3" default="/camera_info3"/>
<arg name="image_raw4" default="/image_raw4"/>
<arg name="camera_info4" default="/camera_info4"/>
<arg name="image_raw5" default="/image_raw5"/>
<arg name="camera_info5" default="/camera_info5"/>
<arg name="image_raw6" default="/image_raw6"/>
<arg name="camera_info6" default="/camera_info6"/>
<arg name="image_raw7" default="/image_raw7"/>
<arg name="camera_info7" default="/camera_info7"/>
<arg name="image_number" default="1" description="choose image raw number(0-7)"/>

<!-- camera lidar fusion based detection-->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="camera_lidar_fusion/objects"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- radar detection-->
<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"/>
</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"/>
</include>
</launch>
57 changes: 52 additions & 5 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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@@ -1,8 +1,13 @@
<?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="mode" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="lidar_detection_model" default="apollo" description="options: `centerpoint`, `apollo`"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>

<!-- camera param -->
<arg name="image_raw0" default="/image_raw" description="image raw topic name"/>
<arg name="camera_info0" default="/camera_info" description="camera info topic name"/>
<arg name="image_raw1" default=""/>
Expand All @@ -20,7 +25,34 @@
<arg name="image_raw7" default=""/>
<arg name="camera_info7" default=""/>
<arg name="image_number" default="1" description="choose image raw number(0-7)"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>

<!-- radar param -->

<!-- camera lidar radar fusion based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- camera lidar fusion based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
Expand All @@ -47,6 +79,16 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- lidar radar based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- lidar based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
Expand All @@ -55,6 +97,11 @@
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
<!-- camera based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera&quot;')"/>

<!-- radar based detection-->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/radar_based_detection.launch.xml">
<arg name="output/objects" value="objects"/>
</include>
</group>
</launch>
3 changes: 2 additions & 1 deletion ...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
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Expand Up @@ -2,6 +2,7 @@
<launch>
<arg name="input/pointcloud"/>
<arg name="input/obstacle_segmentation/pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
<arg name="output/objects" default="objects"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
<arg name="use_pointcloud_container" default="false" description="use pointcloud container for detection preprocessor"/>
Expand Down Expand Up @@ -107,7 +108,7 @@
<group>
<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
<arg name="input/object" value="objects_before_filter"/>
<arg name="output/object" value="objects"/>
<arg name="output/object" value="$(var output/objects)"/>
</include>
</group>
</launch>
32 changes: 32 additions & 0 deletions ...ception_launch/launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
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@@ -0,0 +1,32 @@
<?xml version="1.0"?>
<launch>
<!-- lidar param -->
<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"/>

<!-- lidar based detection-->
<group>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="lidar/objects"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>

<!-- radar detection-->
<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"/>
</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"/>
</include>
</launch>
12 changes: 12 additions & 0 deletions ...r4_perception_launch/launch/object_recognition/detection/radar_based_detection.launch.xml
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@@ -0,0 +1,12 @@
<?xml version="1.0"?>
<launch>
<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"/>
</include>
</launch>
16 changes: 13 additions & 3 deletions ...ion_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py
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Expand Up @@ -75,7 +75,10 @@ def create_additional_pipeline(self, lidar_name):
plugin="pointcloud_preprocessor::CropBoxFilterComponent",
name=f"{lidar_name}_crop_box_filter",
remappings=[
("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"),
(
"input",
f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud",
),
Comment on lines +78 to +81
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pls revert 🙏

("output", f"{lidar_name}/range_cropped/pointcloud"),
],
parameters=[
Expand Down Expand Up @@ -296,7 +299,10 @@ def create_time_series_outlier_filter_components(input_topic, output_topic):
plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent",
name="occupancy_grid_map_outlier_filter",
remappings=[
("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
(
"~/input/occupancy_grid_map",
"/perception/occupancy_grid_map/map",
),
("~/input/pointcloud", input_topic),
("~/output/pointcloud", output_topic),
],
Expand Down Expand Up @@ -337,7 +343,11 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic):
]
),
"elevation_map_directory": PathJoinSubstitution(
[FindPackageShare("elevation_map_loader"), "data", "elevation_maps"]
[
FindPackageShare("elevation_map_loader"),
"data",
"elevation_maps",
]
),
"use_elevation_map_cloud_publisher": False,
}
Expand Down
13 changes: 6 additions & 7 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<launch>
<arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
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i think it is necessary

<!-- common parameters -->
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
<arg name="mode" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
<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"/>
<arg name="image_raw1" default="/sensing/camera/camera1/image_rect_color"/>
Expand Down Expand Up @@ -40,11 +40,11 @@
<push-ros-namespace namespace="obstacle_segmentation"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
<arg name="base_frame" value="base_link"/>
<arg name="vehicle_param_file" value="$(var vehicle_param_file)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
</include>
</group>

Expand All @@ -53,7 +53,7 @@
<push-ros-namespace namespace="occupancy_grid_map"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/occupancy_grid_map/pointcloud_based_occupancy_grid_map.launch.py">
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw"/>
<arg name="input/raw_pointcloud" value="/sensing/lidar/concatenated/pointcloud"/>
<arg name="input/raw_pointcloud" value="$(var input/pointcloud)"/>
<arg name="output" value="/perception/occupancy_grid_map/map"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
Expand All @@ -69,8 +69,9 @@
<group>
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detection.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="mode" value="$(var mode)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
Expand All @@ -89,8 +90,6 @@
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="container_name" value="$(var pointcloud_container_name)"/>
</include>
</group>
<!-- tracking module -->
Expand Down