Skip to content
This repository has been archived by the owner on Mar 27, 2023. It is now read-only.

[ROS2 Porting] perception_launch #6

Merged
merged 5 commits into from
Nov 30, 2020
Merged

[ROS2 Porting] perception_launch #6

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
ebf949e
Initial port to ROS 2
esteve Nov 6, 2020
b24e9f4
Port to ROS 2
esteve Nov 11, 2020
346b292
Added dependencies
esteve Nov 18, 2020
ed1580e
fix perception_launch
mitsudome-r Nov 19, 2020
7ae696e
Use arg instead of let
esteve Nov 26, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 4 additions & 0 deletions build_depends.repos
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,3 +27,7 @@ repositories:
type: git
url: https://github.com/ApexAI/topic_tools.git
version: autoware
dependencies/Pilot.Auto:
type: git
url: https://github.com/tier4/Pilot.Auto.git
version: ros2
14 changes: 6 additions & 8 deletions perception_launch/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,12 +1,10 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(perception_launch)

find_package(catkin REQUIRED)
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

catkin_package()

install(
DIRECTORY
launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
ament_auto_package(
INSTALL_TO_SHARE
launch
)
Empty file removed perception_launch/COLCON_IGNORE
View file
Open in desktop
Empty file.
58 changes: 29 additions & 29 deletions ...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,43 +20,43 @@
<arg name="image_number" default="1"/>
<arg name="use_vector_map" default="true"/>

<!-- <include file="$(find euclidean_cluster)/launch/euclidean_cluster.launch"/> -->
<!-- <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.xml"/> -->
<!-- or -->
<!-- <include file="$(find euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch" /> -->
<!-- <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml" /> -->
<!-- or -->
<include file="$(find lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch">
<arg name="output/objects" default="clusters"/>
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml">
<arg name="output/objects" value="clusters"/>
</include>

<!-- Jetson AGX -->
<!-- <include file="$(find tensorrt_yolo3)/launch/yolo3.launch">
<arg name="image_raw0" default="$(arg image_raw0)"/>
<arg name="image_raw1" default="$(arg image_raw1)"/>
<arg name="image_raw2" default="$(arg image_raw2)"/>
<arg name="image_raw3" default="$(arg image_raw3)"/>
<arg name="image_raw4" default="$(arg image_raw4)"/>
<arg name="image_raw5" default="$(arg image_raw5)"/>
<arg name="image_raw6" default="$(arg image_raw6)"/>
<arg name="image_raw7" default="$(arg image_raw7)"/>
<arg name="image_number" default="$(arg image_number)"/>
<!-- <include file="$(find-pkg-share tensorrt_yolo3)/launch/yolo3.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="image_number" value="$(var image_number)"/>
</include> -->

<include file="$(find roi_cluster_fusion)/launch/roi_cluster_fusion.launch">
<arg name="input_camera_info0" default="$(arg camera_info0)"/>
<arg name="input_camera_info1" default="$(arg camera_info1)"/>
<arg name="input_camera_info2" default="$(arg camera_info2)"/>
<arg name="input_camera_info3" default="$(arg camera_info3)"/>
<arg name="input_camera_info4" default="$(arg camera_info4)"/>
<arg name="input_camera_info5" default="$(arg camera_info5)"/>
<arg name="input_camera_info6" default="$(arg camera_info6)"/>
<arg name="input_camera_info7" default="$(arg camera_info7)"/>
<arg name="input_rois_number" default="$(arg image_number)"/>
<include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
<arg name="input_camera_info0" value="$(var camera_info0)"/>
<arg name="input_camera_info1" value="$(var camera_info1)"/>
<arg name="input_camera_info2" value="$(var camera_info2)"/>
<arg name="input_camera_info3" value="$(var camera_info3)"/>
<arg name="input_camera_info4" value="$(var camera_info4)"/>
<arg name="input_camera_info5" value="$(var camera_info5)"/>
<arg name="input_camera_info6" value="$(var camera_info6)"/>
<arg name="input_camera_info7" value="$(var camera_info7)"/>
<arg name="input_rois_number" value="$(var image_number)"/>
</include>

<!-- <include file="$(find cluster_data_association)/launch/cluster_data_association.launch" /> -->

<include file="$(find shape_estimation)/launch/shape_estimation.launch">
<arg name="use_map_corrent" default="$(arg use_vector_map)"/>
<arg name="output/objects" default="objects" />
<!-- <include file="$(find-pkg-share cluster_data_association)/launch/cluster_data_association.launch.xml" /> -->

<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="use_map_corrent" value="$(var use_vector_map)"/>
<arg name="output/objects" value="objects" />
</include>
</launch>
52 changes: 26 additions & 26 deletions perception_launch/launch/object_recognition/detection/detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,42 +23,42 @@
<arg name="use_vector_map" default="true"/>

<!-- camera lidar fusion based detection-->
<group if="$(eval mode=='camera_lidar_fusion')">
<include file="$(find perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch">
<arg name="image_raw0" default="$(arg image_raw0)"/>
<arg name="camera_info0" default="$(arg camera_info0)"/>
<arg name="image_raw1" default="$(arg image_raw1)"/>
<arg name="camera_info1" default="$(arg camera_info1)"/>
<arg name="image_raw2" default="$(arg image_raw2)"/>
<arg name="camera_info2" default="$(arg camera_info2)"/>
<arg name="image_raw3" default="$(arg image_raw3)"/>
<arg name="camera_info3" default="$(arg camera_info3)"/>
<arg name="image_raw4" default="$(arg image_raw4)"/>
<arg name="camera_info4" default="$(arg camera_info4)"/>
<arg name="image_raw5" default="$(arg image_raw5)"/>
<arg name="camera_info5" default="$(arg camera_info5)"/>
<arg name="image_raw6" default="$(arg image_raw6)"/>
<arg name="camera_info6" default="$(arg camera_info6)"/>
<arg name="image_raw7" default="$(arg image_raw7)"/>
<arg name="camera_info7" default="$(arg camera_info7)"/>
<arg name="image_number" default="$(arg image_number)"/>
<arg name="use_vector_map" default="$(arg use_vector_map)"/>
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_vector_map" value="$(var use_vector_map)"/>
</include>
</group>
<!-- lidar based detection-->
<group if="$(eval mode=='lidar')">
<include file="$(find perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch">
<arg name="use_vector_map" default="$(arg use_vector_map)"/>
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
<arg name="use_vector_map" value="$(var use_vector_map)"/>
</include>
</group>
<!-- camera based detection-->
<group if="$(eval mode=='camera')">
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera&quot;')">
</group>

<!-- visualization -->
<include file="$(find dynamic_object_visualization)/launch/dynamic_object_visualizer.launch">
<!-- <include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
<arg name="input" value="objects"/>
<arg name="with_feature" value="true"/>
<arg name="only_known_objects" default="false"/>
</include>
</include> -->
</launch>
8 changes: 4 additions & 4 deletions perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
<?xml version="1.0"?>
<launch>
<arg name="use_vector_map" default="true"/>
<include file="$(find lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch" />
<include file="$(find shape_estimation)/launch/shape_estimation.launch">
<arg name="use_map_corrent" default="$(arg use_vector_map)"/>
<arg name="output/objects" default="objects" />
<include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
<include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
<let name="use_map_corrent" value="$(var use_vector_map)"/>
<let name="output/objects" value="objects" />
</include>
</launch>
16 changes: 9 additions & 7 deletions perception_launch/launch/object_recognition/prediction/prediction.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,17 +3,19 @@
<launch>
<arg name="use_vector_map" default="false"/>

<remap from="objects" to="/perception/object_recognition/objects" />

<group if="$(eval use_vector_map)">
<include file="$(find map_based_prediction)/launch/map_based_prediction.launch" />
<group if="$(var use_vector_map)">
<include file="$(find-pkg-share map_based_prediction)/launch/map_based_prediction.launch.xml">
<remap from="objects" to="/perception/object_recognition/objects"/>
</include>
</group>
<group unless="$(eval use_vector_map)">
<include file="$(find naive_path_prediction)/launch/naive_path_prediction.launch" />
<group unless="$(var use_vector_map)">
<include file="$(find-pkg-share naive_path_prediction)/launch/naive_path_prediction.launch.xml">
<remap from="objects" to="/perception/object_recognition/objects"/>
</include>
</group>

<!-- visualization -->
<include file="$(find dynamic_object_visualization)/launch/dynamic_object_visualizer.launch">
<include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
<arg name="input" value="/perception/object_recognition/objects"/>
<arg name="with_feature" value="false"/>
<arg name="only_known_objects" default="true"/>
Expand Down
4 changes: 2 additions & 2 deletions perception_launch/launch/object_recognition/tracking/tracking.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
<?xml version="1.0"?>

<launch>
<include file="$(find multi_object_tracker)/launch/multi_object_tracker.launch">
<include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
</include>
<!-- visualization -->
<include file="$(find dynamic_object_visualization)/launch/dynamic_object_visualizer.launch">
<include file="$(find-pkg-share dynamic_object_visualization)/launch/dynamic_object_visualizer.launch.xml">
<arg name="input" value="objects"/>
<arg name="with_feature" value="false"/>
<arg name="only_known_objects" default="true"/>
Expand Down
67 changes: 37 additions & 30 deletions perception_launch/launch/perception.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,49 +24,56 @@
<arg name="use_vector_map" default="true"/>

<!-- preception module -->
<group ns="perception">
<group>
<push-ros-namespace namespace="perception"/>

<!-- object recognition module -->
<group ns="object_recognition">
<group>
<push-ros-namespace namespace="object_recognition"/>
<!-- detection module -->
<group ns="detection">
<include file="$(find perception_launch)/launch/object_recognition/detection/detection.launch">
<arg name="mode" default="$(arg mode)"/>
<arg name="image_raw0" default="$(arg image_raw0)"/>
<arg name="camera_info0" default="$(arg camera_info0)"/>
<arg name="image_raw1" default="$(arg image_raw1)"/>
<arg name="camera_info1" default="$(arg camera_info1)"/>
<arg name="image_raw2" default="$(arg image_raw2)"/>
<arg name="camera_info2" default="$(arg camera_info2)"/>
<arg name="image_raw3" default="$(arg image_raw3)"/>
<arg name="camera_info3" default="$(arg camera_info3)"/>
<arg name="image_raw4" default="$(arg image_raw4)"/>
<arg name="camera_info4" default="$(arg camera_info4)"/>
<arg name="image_raw5" default="$(arg image_raw5)"/>
<arg name="camera_info5" default="$(arg camera_info5)"/>
<arg name="image_raw6" default="$(arg image_raw6)"/>
<arg name="camera_info6" default="$(arg camera_info6)"/>
<arg name="image_raw7" default="$(arg image_raw7)"/>
<arg name="camera_info7" default="$(arg camera_info7)"/>
<arg name="image_number" default="$(arg image_number)"/>
<arg name="use_vector_map" default="false"/>
<group>
<push-ros-namespace namespace="detection"/>
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/detection.launch.xml">
<arg name="mode" value="$(var mode)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
<arg name="camera_info1" value="$(var camera_info1)"/>
<arg name="image_raw2" value="$(var image_raw2)"/>
<arg name="camera_info2" value="$(var camera_info2)"/>
<arg name="image_raw3" value="$(var image_raw3)"/>
<arg name="camera_info3" value="$(var camera_info3)"/>
<arg name="image_raw4" value="$(var image_raw4)"/>
<arg name="camera_info4" value="$(var camera_info4)"/>
<arg name="image_raw5" value="$(var image_raw5)"/>
<arg name="camera_info5" value="$(var camera_info5)"/>
<arg name="image_raw6" value="$(var image_raw6)"/>
<arg name="camera_info6" value="$(var camera_info6)"/>
<arg name="image_raw7" value="$(var image_raw7)"/>
<arg name="camera_info7" value="$(var camera_info7)"/>
<arg name="image_number" value="$(var image_number)"/>
<arg name="use_vector_map" value="false"/>
</include>
</group>
<!-- tracking module -->
<group ns="tracking">
<include file="$(find perception_launch)/launch/object_recognition/tracking/tracking.launch">
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
</include>
</group>
<!-- prediction module -->
<group ns="prediction">
<include file="$(find perception_launch)/launch/object_recognition/prediction/prediction.launch">
<arg name="use_vector_map" default="$(arg use_vector_map)"/>
<group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="$(var use_vector_map)"/>
</include>
</group>
</group>

<!-- traffic light module -->
<group ns="traffic_light_recognition">
<include file="$(find perception_launch)/launch/traffic_light_recognition/traffic_light.launch">
<group>
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
</include>
</group>
</group>
Expand Down
60 changes: 29 additions & 31 deletions perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,47 +7,45 @@
<arg name="input/camera_info" default="/sensing/camera/traffic_light/camera_info"/>

<!-- nodelet manager -->
<arg name="manager" value="traffic_light_recognition_nodelet_manager"/>
<node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />
<arg name="manager" default="traffic_light_recognition_nodelet_manager"/>
<!-- <node pkg="nodelet" exec="nodelet" name="$(var manager)" args="manager" /> -->

<!-- compressed to raw image-->
<node pkg="nodelet" type="nodelet" name="traffic_light_image_decompressor" args="load image_preprocessor/image_transport_decompressor_nodelet $(arg manager)">
<remap from="~input/compressed_image" to="$(arg input/image)/compressed" />
<remap from="~output/raw_image" to="$(arg input/image)" />
<param name="encoding" value="rgb8" />
<node pkg="image_transport" exec="republish" name="traffic_light_image_decompressor" args="compressed in:=$(var input/image)/compressed raw out:=$(var input/image)">
</node>

<group if="$(arg enable_fine_detection)">
<include file="$(find traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch">
<arg name="input/camera_info" default="$(arg input/camera_info)"/>
<arg name="output/rois" default="rough/rois"/>

<group if="$(var enable_fine_detection)">
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="input/camera_info" value="$(var input/camera_info)"/>
<arg name="output/rois" value="rough/rois"/>
</include>
<include file="$(find traffic_light_ssd_fine_detector)/launch/traffic_light_ssd_fine_detector.launch">
<arg name="manager" default="$(arg manager)"/>
<arg name="input/image" default="$(arg input/image)"/>
<arg name="input/rois" default="rough/rois"/>
<arg name="output/rois" default="rois"/>
<include file="$(find-pkg-share traffic_light_ssd_fine_detector)/launch/traffic_light_ssd_fine_detector.launch.xml">
<arg name="manager" value="$(var manager)"/>
<arg name="input/image" value="$(var input/image)"/>
<arg name="input/rois" value="rough/rois"/>
<arg name="output/rois" value="rois"/>
</include>
</group>

<group unless="$(arg enable_fine_detection)">
<include file="$(find traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch">
<arg name="output/rois" default="rois"/>
<arg name="input/camera_info" default="$(arg input/camera_info)"/>
<group unless="$(var enable_fine_detection)">
<include file="$(find-pkg-share traffic_light_map_based_detector)/launch/traffic_light_map_based_detector.launch.xml">
<arg name="output/rois" value="rois"/>
<arg name="input/camera_info" value="$(var input/camera_info)"/>
</include>
</group>

<include file="$(find traffic_light_visualization)/launch/traffic_light_roi_visualizer.launch">
<arg name="manager" default="$(arg manager)"/>
<arg name="input/image" default="$(arg input/image)"/>
<arg name="input/rois" default="rois"/>
<arg name="enable_fine_detection" default="$(arg enable_fine_detection)"/>
</include>
<include file="$(find traffic_light_classifier)/launch/traffic_light_classifier.launch">
<arg name="manager" default="$(arg manager)"/>
<arg name="input/rois" default="rois"/>
<arg name="input/image" default="$(arg input/image)" />
<arg name="output/traffic_light_states" default="traffic_light_states" />
<arg name="use_gpu" default="true"/>
<include file="$(find-pkg-share traffic_light_visualization)/launch/traffic_light_roi_visualizer.launch.xml">
<arg name="manager" value="$(var manager)"/>
<arg name="input/image" value="$(var input/image)"/>
<arg name="input/rois" value="rois"/>
<arg name="enable_fine_detection" value="$(var enable_fine_detection)"/>
</include>
<include file="$(find-pkg-share traffic_light_classifier)/launch/traffic_light_classifier.launch.xml">
<arg name="manager" value="$(var manager)"/>
<arg name="input/rois" value="rois"/>
<arg name="input/image" value="$(var input/image)" />
<arg name="output/traffic_light_states" value="traffic_light_states" />
<arg name="use_gpu" value="true"/>
</include>
</launch>
Loading