From 207ebbc2afd15ec4c9b5ec52cd1421b8ae1fb75a Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 8 May 2024 13:01:53 +0900 Subject: [PATCH 1/4] feat: add multi-input channel config Signed-off-by: Taekjin LEE --- .../input_channels.param.yaml | 81 +++++++++++++++++++ .../multi_object_tracker_node.param.yaml | 3 +- 2 files changed, 82 insertions(+), 2 deletions(-) create mode 100644 autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml new file mode 100644 index 0000000000..63de901ef0 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml @@ -0,0 +1,81 @@ +/**: + ros__parameters: + input_channels: + detected_objects: + topic: "/perception/object_recognition/detection/objects" + expected_interval: 0.1 + optional: + name: "detected_objects" + short_name: "all" + # LIDAR - rule-based + lidar_clustering: + topic: "/perception/object_recognition/detection/clustering/objects" + expected_interval: 0.1 + optional: + name: "clustering" + short_name: "Lcl" + # LIDAR - DNN + lidar_centerpoint: + topic: "/perception/object_recognition/detection/centerpoint/objects" + expected_interval: 0.1 + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_centerpoint_validated: + topic: "/perception/object_recognition/detection/centerpoint/validation/objects" + expected_interval: 0.1 + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_apollo: + topic: "/perception/object_recognition/detection/apollo/objects" + expected_interval: 0.1 + optional: + name: "apollo" + short_name: "Lap" + lidar_apollo_validated: + topic: "/perception/object_recognition/detection/apollo/validation/objects" + expected_interval: 0.1 + optional: + name: "apollo" + short_name: "Lap" + # LIDAR-CAMERA - DNN + lidar_pointpainitng: + topic: "/perception/object_recognition/detection/pointpainting/objects" + expected_interval: 0.1 + optional: + name: "pointpainting" + short_name: "Lpp" + lidar_pointpainting_validated: + topic: "/perception/object_recognition/detection/pointpainting/validation/objects" + expected_interval: 0.1 + optional: + name: "pointpainting" + short_name: "Lpp" + # CAMERA-LIDAR + camera_lidar_fusion: + topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects" + expected_interval: 0.1 + optional: + name: "camera_lidar_fusion" + short_name: "CLf" + # CAMERA-LIDAR+TRACKER + detection_by_tracker: + topic: "/perception/object_recognition/detection/detection_by_tracker/objects" + expected_interval: 0.1 + optional: + name: "detection_by_tracker" + short_name: "dbT" + # RADAR + radar: + topic: "/sensing/radar/detected_objects" + expected_interval: 0.0333 + optional: + name: "radar" + short_name: "R" + radar_far: + topic: "/perception/object_recognition/detection/radar/far_objects" + expected_interval: 0.0333 + optional: + name: "radar_far" + short_name: "Rf" diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 32a12f8bf5..006c179ae1 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -13,11 +13,10 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: true - pass_through_unknown_objects: false - publish_untracked_objects: false # debug parameters publish_processing_time: true publish_tentative_objects: false + publish_debug_markers: true diagnostics_warn_delay: 0.5 # [sec] diagnostics_error_delay: 1.0 # [sec] From d293aa75270019e0538e9b23bad14ba9209885b1 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 8 May 2024 13:02:17 +0900 Subject: [PATCH 2/4] fix: component config Signed-off-by: Taekjin LEE --- .../launch/components/tier4_perception_component.launch.xml | 4 ++++ .../launch/components/tier4_simulator_component.launch.xml | 4 ++++ 2 files changed, 8 insertions(+) diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 8418afabdf..0584a98f4b 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -116,6 +116,10 @@ name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path" value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml" /> + + Date: Mon, 13 May 2024 14:35:47 +0900 Subject: [PATCH 3/4] fix: remove expected interval, add spawn Signed-off-by: Taekjin LEE --- .../input_channels.param.yaml | 24 +++++++++---------- 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml index 63de901ef0..20d717ee36 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml @@ -3,79 +3,79 @@ input_channels: detected_objects: topic: "/perception/object_recognition/detection/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "detected_objects" short_name: "all" # LIDAR - rule-based lidar_clustering: topic: "/perception/object_recognition/detection/clustering/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "clustering" short_name: "Lcl" # LIDAR - DNN lidar_centerpoint: topic: "/perception/object_recognition/detection/centerpoint/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "centerpoint" short_name: "Lcp" lidar_centerpoint_validated: topic: "/perception/object_recognition/detection/centerpoint/validation/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "centerpoint" short_name: "Lcp" lidar_apollo: topic: "/perception/object_recognition/detection/apollo/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "apollo" short_name: "Lap" lidar_apollo_validated: topic: "/perception/object_recognition/detection/apollo/validation/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "apollo" short_name: "Lap" # LIDAR-CAMERA - DNN + # cspell:ignore lidar_pointpainitng pointpainting lidar_pointpainitng: topic: "/perception/object_recognition/detection/pointpainting/objects" - expected_interval: 0.1 + can_spawn_new_tracker: true optional: name: "pointpainting" short_name: "Lpp" lidar_pointpainting_validated: topic: "/perception/object_recognition/detection/pointpainting/validation/objects" - expected_interval: 0.1 optional: name: "pointpainting" short_name: "Lpp" # CAMERA-LIDAR camera_lidar_fusion: topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects" - expected_interval: 0.1 + can_spawn_new_tracker: false optional: name: "camera_lidar_fusion" short_name: "CLf" # CAMERA-LIDAR+TRACKER detection_by_tracker: topic: "/perception/object_recognition/detection/detection_by_tracker/objects" - expected_interval: 0.1 + can_spawn_new_tracker: false optional: name: "detection_by_tracker" short_name: "dbT" # RADAR radar: topic: "/sensing/radar/detected_objects" - expected_interval: 0.0333 + can_spawn_new_tracker: true optional: name: "radar" short_name: "R" radar_far: topic: "/perception/object_recognition/detection/radar/far_objects" - expected_interval: 0.0333 + can_spawn_new_tracker: true optional: name: "radar_far" short_name: "Rf" From 5d2120a7d6a65b81a6808385470741fde194a37e Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 14 May 2024 15:16:03 +0900 Subject: [PATCH 4/4] fix: missing config, default value Signed-off-by: Taekjin LEE --- .../tracking/multi_object_tracker/input_channels.param.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml index 20d717ee36..b57f37675d 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml @@ -49,13 +49,14 @@ short_name: "Lpp" lidar_pointpainting_validated: topic: "/perception/object_recognition/detection/pointpainting/validation/objects" + can_spawn_new_tracker: true optional: name: "pointpainting" short_name: "Lpp" # CAMERA-LIDAR camera_lidar_fusion: topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects" - can_spawn_new_tracker: false + can_spawn_new_tracker: true optional: name: "camera_lidar_fusion" short_name: "CLf"