feat(autoware_launch, simulator_launch): move perception modules to s…

…imulator.launch.xml (#227) * feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove unnecessary comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
tier4 · Mar 2, 2022 · 9cdc598 · 9cdc598
1 parent d1edfd6
commit 9cdc598
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Showing 2 changed files with 45 additions and 2 deletions.
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -12,7 +12,8 @@
   <!-- Optional parameters for scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
-  <arg name="perception/enable_object_recognition" default="true" description="enable object recognition when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" default="true" description="enable object recognition"/>
+  <arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
   <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
   <arg name="scenario_simulation" default="false" description="use scenario simulation"/>
   <!-- Optional parameters for vcu emulation -->
@@ -70,6 +71,7 @@
     <arg name="scenario_simulation" value="$(var scenario_simulation)"/>
     <arg name="perception/enable_detection_failure" value="$(var perception/enable_detection_failure)"/>
     <arg name="perception/enable_object_recognition" value="$(var perception/enable_object_recognition)"/>
+    <arg name="perception/enable_traffic_light" value="$(var perception/enable_traffic_light)"/>
     <arg name="sensing/visible_range" value="$(var sensing/visible_range)"/>
     <arg name="vehicle_simulation" value="$(var vehicle_simulation)"/>
     <arg name="vehicle_model" value="$(var vehicle_model)"/>

diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
@@ -2,7 +2,8 @@
   <arg name="scenario_simulation" default="" description="use scenario simulation"/>
 
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
-  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition when using dummy perception"/>
+  <arg name="perception/enable_object_recognition" default="false" description="enable object recognition"/>
+  <arg name="perception/enable_traffic_light" default="false" description="enable traffic light"/>
   <arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
 
   <arg name="vehicle_simulation" default="true" description="use vehicle simulation"/>
@@ -24,6 +25,46 @@
     </include>
   </group>
 
+  <!-- perception module -->
+  <group>
+    <push-ros-namespace namespace="perception"/>
+    <!-- object recognition -->
+    <group if="$(var perception/enable_object_recognition)">
+      <push-ros-namespace namespace="object_recognition"/>
+      <!-- tracking module -->
+      <group>
+        <push-ros-namespace namespace="tracking"/>
+        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
+        </include>
+      </group>
+      <!-- prediction module -->
+      <group>
+        <push-ros-namespace namespace="prediction"/>
+        <include file="$(find-pkg-share perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
+          <arg name="use_vector_map" value="true" />
+        </include>
+      </group>
+    </group>
+
+    <!-- object segmentation module -->
+    <group>
+      <push-ros-namespace namespace="occupancy_grid_map"/>
+      <!-- Occupancy Grid -->
+      <include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
+        <arg name="input_obstacle_pointcloud" value="true" />
+        <arg name="input_obstacle_and_raw_pointcloud" value="false" />
+        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
+        <arg name="output" value="/perception/occupancy_grid_map/map" />
+      </include>
+    </group>
+
+    <!-- traffic light module -->
+    <group if="$(var perception/enable_traffic_light)">
+      <push-ros-namespace namespace="traffic_light_recognition"/>
+      <include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
+    </group>
+  </group>
+
   <!-- Simulator model -->
   <group if="$(var vehicle_simulation)">
     <group unless="$(var scenario_simulation)">