feat: change centerpoint model path (autowarefoundation#314)

feat: change centerpoint model path (autowarefoundation#313) * chore: change centerpoint model path * Parameter to specify model path --------- Co-authored-by: Shohei Sakai <saka1s.jp@gmail.com>
kminoda · Jun 29, 2023 · aae4c9e · aae4c9e
1 parent f2a2f0c
commit aae4c9e
Show file tree

Hide file tree

Showing 3 changed files with 7 additions and 2 deletions.
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -38,6 +38,8 @@
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
   <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
+  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
   <!-- Localization -->
   <arg name="localization_mode" default="lidar" description="select localization mode. lidar, camera"/>
 

diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml
@@ -9,8 +9,8 @@
     <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     <arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
     <arg name="centerpoint_model_name" value="aip_x2"/>
-    <arg name="centerpoint_model_path" value="$(find-pkg-share ml_model_provider)/data/lidar_centerpoint"/>
-    <arg name="centerpoint_model_param_path" value="$(find-pkg-share ml_model_provider)/config/lidar_centerpoint/aip_x2.param.yaml"/>
+    <arg name="centerpoint_model_path" value="/opt/autoware/mlmodels/centerpoint"/>
+    <arg name="centerpoint_model_param_path" value="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml"/>
 
     <arg
       name="object_recognition_detection_object_lanelet_filter_param_path"

diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml
@@ -31,6 +31,9 @@
   <arg name="rviz" default="true" description="launch rviz"/>
   <!-- Scenario simulation -->
   <arg name="scenario_simulation" default="true" description="use scenario simulation"/>
+  <!-- Perception -->
+  <arg name="centerpoint_model_path" default="/opt/autoware/mlmodels/centerpoint" description="path of centerpoint model file"/>
+  <arg name="centerpoint_model_param_path" default="/opt/autoware/mlmodels/centerpoint/aip_x2.param.yaml" description="path of centerpoint parameter file"/>
 
   <group scoped="false">
     <include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">