From 624bce382b9018c6896f0f443a38569e56c57b8e Mon Sep 17 00:00:00 2001 From: yoshiri Date: Mon, 4 Dec 2023 23:59:51 +0900 Subject: [PATCH 1/6] add multi_object_tracker node param Signed-off-by: yoshiri --- .../multi_object_tracker_node.param.yaml | 15 +++++++++++++++ .../tier4_perception_component.launch.xml | 4 ++++ 2 files changed, 19 insertions(+) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml new file mode 100644 index 0000000000..9552b35b65 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + # default tracker models for each class + car_tracker: "multi_vehicle_tracker" + truck_tracker: "multi_vehicle_tracker" + bus_tracker: "multi_vehicle_tracker" + trailer_tracker: "multi_vehicle_tracker" + pedestrian_tracker: "pedestrian_and_bicycle_tracker" + bicycle_tracker: "pedestrian_and_bicycle_tracker" + motorcycle_tracker: "pedestrian_and_bicycle_tracker" + + # default tracker node parameters + publish_rate: 10.0 + world_frame_id: map + enable_delay_compensation: false diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index ece7bee52c..49156fba51 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -81,6 +81,10 @@ 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" /> + Date: Tue, 5 Dec 2023 10:58:49 +0900 Subject: [PATCH 2/6] add additional node parameters for future update --- .../multi_object_tracker/multi_object_tracker_node.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 9552b35b65..a3bbf30a9d 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -13,3 +13,6 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: false + pass_through_unknown_objects: false + publish_untracked_objects: false + debug_flag: false \ No newline at end of file From 2284a81a29a76cf7f74aa9efa5245c25b0de114c Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 5 Dec 2023 01:59:26 +0000 Subject: [PATCH 3/6] style(pre-commit): autofix --- .../multi_object_tracker/multi_object_tracker_node.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index a3bbf30a9d..57ab269c48 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -15,4 +15,4 @@ enable_delay_compensation: false pass_through_unknown_objects: false publish_untracked_objects: false - debug_flag: false \ No newline at end of file + debug_flag: false From 9acae5583e4e358082b3068f46954c7924145cd7 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Tue, 5 Dec 2023 14:33:29 +0900 Subject: [PATCH 4/6] fix default value --- .../multi_object_tracker/multi_object_tracker_node.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 57ab269c48..ae1e9d31e6 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -12,7 +12,7 @@ # default tracker node parameters publish_rate: 10.0 world_frame_id: map - enable_delay_compensation: false + enable_delay_compensation: true pass_through_unknown_objects: false publish_untracked_objects: false debug_flag: false From 3f62c899e61825676973f70f5f03d0e762a63dd9 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Tue, 5 Dec 2023 17:10:16 +0900 Subject: [PATCH 5/6] update simulator component launch Signed-off-by: yoshiri --- .../launch/components/tier4_simulator_component.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 02f9a8243c..a8503818cd 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -39,6 +39,10 @@ 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" /> + From ac44c722f7a45cba044532d5cbe955acc7e86e69 Mon Sep 17 00:00:00 2001 From: yoshiri Date: Tue, 12 Dec 2023 10:53:02 +0900 Subject: [PATCH 6/6] feat: update multi_object_tracker node param Signed-off-by: yoshiri --- .../multi_object_tracker_node.param.yaml | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index ae1e9d31e6..f58de8e615 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -15,4 +15,9 @@ enable_delay_compensation: true pass_through_unknown_objects: false publish_untracked_objects: false - debug_flag: false + + # debug parameters + publish_processing_time: false + publish_tentative_objects: false + diagnostic_warn_delay: 0.5 # [sec] + diagnostic_error_delay: 1.0 # [sec]