feat(multi_object_tracker): add multi object input config file (#989)

* feat: add multi-input channel config Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: component config Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: remove expected interval, add spawn Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> * fix: missing config, default value Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp> --------- Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
autowarefoundation · May 23, 2024 · b0581a9 · b0581a9
1 parent a05b6c6
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Showing 4 changed files with 91 additions and 2 deletions.
diff --git a/...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/...fig/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml
@@ -0,0 +1,82 @@
+/**:
+  ros__parameters:
+    input_channels:
+      detected_objects:
+        topic: "/perception/object_recognition/detection/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "detected_objects"
+          short_name: "all"
+      # LIDAR - rule-based
+      lidar_clustering:
+        topic: "/perception/object_recognition/detection/clustering/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "clustering"
+          short_name: "Lcl"
+      # LIDAR - DNN
+      lidar_centerpoint:
+        topic: "/perception/object_recognition/detection/centerpoint/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_centerpoint_validated:
+        topic: "/perception/object_recognition/detection/centerpoint/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "centerpoint"
+          short_name: "Lcp"
+      lidar_apollo:
+        topic: "/perception/object_recognition/detection/apollo/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      lidar_apollo_validated:
+        topic: "/perception/object_recognition/detection/apollo/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "apollo"
+          short_name: "Lap"
+      # LIDAR-CAMERA - DNN
+      # cspell:ignore lidar_pointpainitng pointpainting
+      lidar_pointpainitng:
+        topic: "/perception/object_recognition/detection/pointpainting/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      lidar_pointpainting_validated:
+        topic: "/perception/object_recognition/detection/pointpainting/validation/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "pointpainting"
+          short_name: "Lpp"
+      # CAMERA-LIDAR
+      camera_lidar_fusion:
+        topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "camera_lidar_fusion"
+          short_name: "CLf"
+      # CAMERA-LIDAR+TRACKER
+      detection_by_tracker:
+        topic: "/perception/object_recognition/detection/detection_by_tracker/objects"
+        can_spawn_new_tracker: false
+        optional:
+          name: "detection_by_tracker"
+          short_name: "dbT"
+      # RADAR
+      radar:
+        topic: "/sensing/radar/detected_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar"
+          short_name: "R"
+      radar_far:
+        topic: "/perception/object_recognition/detection/radar/far_objects"
+        can_spawn_new_tracker: true
+        optional:
+          name: "radar_far"
+          short_name: "Rf"
diff --git a/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/...ion/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml
@@ -13,11 +13,10 @@
     publish_rate: 10.0
     world_frame_id: map
     enable_delay_compensation: true
-    pass_through_unknown_objects: false
-    publish_untracked_objects: false
 
     # debug parameters
     publish_processing_time: true
     publish_tentative_objects: false
+    publish_debug_markers: true
     diagnostics_warn_delay: 0.5      # [sec]
     diagnostics_error_delay: 1.0     # [sec]
diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -116,6 +116,10 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_input_channels_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"

diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml
@@ -41,6 +41,10 @@
       name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
     />
+    <arg
+      name="object_recognition_tracking_multi_object_tracker_input_channels_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml"
+    />
     <arg
       name="object_recognition_tracking_multi_object_tracker_node_param_path"
       value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml"