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badai-nguyenbadai-nguyen
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fix(roi_pointcloud_fusion): merge into pointcloud container
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
1 parent dbc5923 commit 359d99e

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2 files changed

+37
-33
lines changed

2 files changed

+37
-33
lines changed

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

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Original file line numberDiff line numberDiff line change
@@ -185,6 +185,7 @@
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<arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
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<arg name="output/clusters" value="$(var roi_cluster/output/clusters)"/>
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<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
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<arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
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</include>
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</group>
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</group>

‎perception/autoware_image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml

+36-33
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
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<launch>
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<arg name="pointcloud_container_name" default="pointcloud_container"/>
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<arg name="input/rois_number" default="6"/>
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<arg name="input/rois0" default="rois0"/>
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<arg name="input/camera_info0" default="/camera_info0"/>
@@ -33,39 +34,41 @@
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<arg name="input/image6" default="/image_raw6"/>
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<arg name="input/image7" default="/image_raw7"/>
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<group>
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<node pkg="autoware_image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
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<param name="rois_number" value="$(var input/rois_number)"/>
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<param from="$(var param_path)"/>
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<param from="$(var sync_param_path)"/>
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<remap from="input" to="$(var input/pointcloud)"/>
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<remap from="output" to="$(var output/clusters)"/>
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<remap from="debug/clusters" to="$(var debug/clusters)"/>
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<node_container pkg="rclcpp_components" exec="component_container" name="$(var pointcloud_container_name)" namespace="/">
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<composable_node pkg="autoware_image_projection_based_fusion" plugin="autoware::image_projection_based_fusion::RoiPointCloudFusionNode" name="roi_pointcloud_fusion">
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<param name="rois_number" value="$(var input/rois_number)"/>
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<param from="$(var param_path)"/>
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<param from="$(var sync_param_path)" allow_substs="true"/>
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<remap from="input" to="$(var input/pointcloud)"/>
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<remap from="output" to="$(var output/clusters)"/>
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<remap from="debug/clusters" to="$(var debug/clusters)"/>
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<!-- rois, camera and info -->
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<param name="input/rois0" value="$(var input/rois0)"/>
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<param name="input/camera_info0" value="$(var input/camera_info0)"/>
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<param name="input/image0" value="$(var input/image0)"/>
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<param name="input/rois1" value="$(var input/rois1)"/>
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<param name="input/camera_info1" value="$(var input/camera_info1)"/>
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<param name="input/image1" value="$(var input/image1)"/>
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<param name="input/rois2" value="$(var input/rois2)"/>
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<param name="input/camera_info2" value="$(var input/camera_info2)"/>
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<param name="input/image2" value="$(var input/image2)"/>
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<param name="input/rois3" value="$(var input/rois3)"/>
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<param name="input/camera_info3" value="$(var input/camera_info3)"/>
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<param name="input/image3" value="$(var input/image3)"/>
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<param name="input/rois4" value="$(var input/rois4)"/>
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<param name="input/camera_info4" value="$(var input/camera_info4)"/>
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<param name="input/image4" value="$(var input/image4)"/>
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<param name="input/rois5" value="$(var input/rois5)"/>
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<param name="input/camera_info5" value="$(var input/camera_info5)"/>
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<param name="input/image5" value="$(var input/image5)"/>
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<param name="input/rois6" value="$(var input/rois6)"/>
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<param name="input/camera_info6" value="$(var input/camera_info6)"/>
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<param name="input/image6" value="$(var input/image6)"/>
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<param name="input/rois7" value="$(var input/rois7)"/>
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<param name="input/camera_info7" value="$(var input/camera_info7)"/>
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<param name="input/image7" value="$(var input/image7)"/>
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</node>
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<!-- rois, camera and info -->
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<param name="input/rois0" value="$(var input/rois0)"/>
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<param name="input/camera_info0" value="$(var input/camera_info0)"/>
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<param name="input/image0" value="$(var input/image0)"/>
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<param name="input/rois1" value="$(var input/rois1)"/>
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<param name="input/camera_info1" value="$(var input/camera_info1)"/>
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<param name="input/image1" value="$(var input/image1)"/>
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<param name="input/rois2" value="$(var input/rois2)"/>
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<param name="input/camera_info2" value="$(var input/camera_info2)"/>
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<param name="input/image2" value="$(var input/image2)"/>
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<param name="input/rois3" value="$(var input/rois3)"/>
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<param name="input/camera_info3" value="$(var input/camera_info3)"/>
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<param name="input/image3" value="$(var input/image3)"/>
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<param name="input/rois4" value="$(var input/rois4)"/>
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<param name="input/camera_info4" value="$(var input/camera_info4)"/>
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<param name="input/image4" value="$(var input/image4)"/>
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<param name="input/rois5" value="$(var input/rois5)"/>
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<param name="input/camera_info5" value="$(var input/camera_info5)"/>
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<param name="input/image5" value="$(var input/image5)"/>
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<param name="input/rois6" value="$(var input/rois6)"/>
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<param name="input/camera_info6" value="$(var input/camera_info6)"/>
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<param name="input/image6" value="$(var input/image6)"/>
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<param name="input/rois7" value="$(var input/rois7)"/>
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<param name="input/camera_info7" value="$(var input/camera_info7)"/>
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<param name="input/image7" value="$(var input/image7)"/>
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</composable_node>
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</node_container>
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</group>
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</launch>

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