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fix: radar pipeline output
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technolojin committed Jun 19, 2024
1 parent bb8e20e commit 814f95f
Showing 1 changed file with 4 additions and 2 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -56,6 +56,8 @@
<arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
<arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model)/validation/objects"/>
<arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
<arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
<arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>

<!-- Module switching -->
<arg name="switch/detector/camera_lidar" default="false"/>
Expand Down Expand Up @@ -179,7 +181,7 @@
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/radar_filter.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="output/objects" value="$(var radar_pipeline/output/objects)"/>
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
Expand Down Expand Up @@ -269,7 +271,7 @@
<arg name="input/lidar_rule/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
<arg name="input/detection_by_tracker/objects" value="$(var tracker_based_detector/output/objects)"/>
<arg name="input/radar/objects" value="radar/noise_filtered_objects"/>
<arg name="input/radar_far/objects" value="radar/far_objects"/>
<arg name="input/radar_far/objects" value="$(var radar_pipeline/output/objects)"/>
<arg name="output/objects" value="$(var output/objects)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_radar_tracking_fusion" value="$(var use_radar_tracking_fusion)"/>
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