From 6a5bd33217450a4a7cc55a1648f44cc72eea20dc Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Thu, 14 Jul 2022 01:06:13 +0900
Subject: [PATCH] feature: update and fix detection launch (#1340)

* cosmetic change

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* ci(pre-commit): autofix

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 ...ra_lidar_fusion_based_detection.launch.xml | 118 +++++++++---------
 .../lidar_based_detection.launch.xml          |   4 +-
 .../object_association_merger.launch.xml      |   3 +-
 3 files changed, 62 insertions(+), 63 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index 0fe613dd52214..805900beb053b 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -68,7 +68,6 @@
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="input/objects" value="clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="node_name" value="shape_estimation_clustering"/>
       </include>
     </group>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
@@ -76,65 +75,67 @@
       <include file="$(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 -->
-    <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="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-        <arg name="input/objects" value="camera_lidar_fusion/clusters"/>
-        <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
-        <arg name="node_name" value="shape_estimation_camera_lidar_fusion"/>
-      </include>
-    </group>
-    <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
-    <group>
-      <include file="$(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="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
-        <arg name="input/object" value="camera_lidar_fusion/objects"/>
-        <arg name="output/long_range_object" value="camera_lidar_fusion/long_range_objects"/>
-        <arg name="output/short_range_object" value="camera_lidar_fusion/short_range_objects"/>
-        <arg name="split_range" value="30.0"/>
-      </include>
+      <let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
+      <push-ros-namespace namespace="camera_lidar_fusion"/>
+      <!-- Fusion camera-lidar to classify -->
+      <group>
+        <include file="$(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="$(var image_number)"/>
+          <arg name="input/clusters" value="$(var input/clustering)"/>
+          <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="clusters"/>
+        </include>
+      </group>
+
+      <group>
+        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+          <arg name="input/objects" value="clusters"/>
+          <arg name="output/objects" value="objects_with_feature"/>
+        </include>
+      </group>
+      <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
+      <group>
+        <include file="$(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>
+        <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>
   </group>
 
@@ -159,11 +160,13 @@
     <group>
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="labeled_clusters"/>
       </include>
     </group>
 
     <group>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="labeled_clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
@@ -197,7 +200,6 @@
       <arg name="input/object0" value="$(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>
 
@@ -206,7 +208,6 @@
       <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>
 
@@ -215,7 +216,6 @@
       <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>
 
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 2d010c5e96c0b..ded816706fcb9 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -72,11 +72,13 @@
     <group>
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
+        <arg name="output/objects" value="labeled_clusters"/>
       </include>
     </group>
 
     <group>
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <arg name="input/objects" value="labeled_clusters"/>
         <arg name="output/objects" value="objects_with_feature"/>
         <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
@@ -110,7 +112,6 @@
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
-      <arg name="node_name" value="object_association_merger_unknown_clustering"/>
     </include>
   </group>
 
@@ -119,7 +120,6 @@
       <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects_before_filter"/>
-      <arg name="node_name" value="object_association_merger_detection_by_tracker"/>
     </include>
   </group>
 
diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/object_merger/launch/object_association_merger.launch.xml
index eb1e336f2f77c..85b9eff90d25e 100644
--- a/perception/object_merger/launch/object_association_merger.launch.xml
+++ b/perception/object_merger/launch/object_association_merger.launch.xml
@@ -4,9 +4,8 @@
   <arg name="input/object1" default="object1"/>
   <arg name="output/object" default="merged_object"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share object_merger)/config/data_association_matrix.param.yaml"/>
-  <arg name="node_name" default="object_association_merger"/>
 
-  <node pkg="object_merger" exec="object_association_merger_node" name="$(var node_name)" output="screen">
+  <node pkg="object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
     <remap from="input/object1" to="$(var input/object1)"/>
     <remap from="output/object" to="$(var output/object)"/>