chore

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

Author: MasatoSaeki

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -35,7 +35,7 @@
   <arg name="occupancy_grid_map_updater"/>
   <arg name="occupancy_grid_map_updater_param_path"/>
   <arg name="lidar_detection_model"/>
-  <arg name="traffic_light_map_based_detector_param_path"/>
+  <arg name="each_traffic_light_map_based_detector_param_path"/>
   <arg name="traffic_light_fine_detector_param_path"/>
   <arg name="yolox_traffic_light_detector_param_path"/>
   <arg name="car_traffic_light_classifier_param_path"/>
@@ -310,7 +310,11 @@
     <group if="$(var use_traffic_light_recognition)">
       <push-ros-namespace namespace="traffic_light_recognition"/>
       <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
-        <arg name="traffic_light_map_based_detector_param_path" value="$(var traffic_light_map_based_detector_param_path)"/>
+        <arg name="fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
+        <arg name="camera_namespaces" value="$(var traffic_light_recognition/camera_namespaces)"/>
+        <arg name="use_high_accuracy_detection" value="$(var traffic_light_recognition/use_high_accuracy_detection)"/>
+        <arg name="high_accuracy_detection_type" value="$(var traffic_light_recognition/high_accuracy_detection_type)"/>
+        <arg name="each_traffic_light_map_based_detector_param_path" value="$(var each_traffic_light_map_based_detector_param_path)"/>
         <arg name="traffic_light_fine_detector_param_path" value="$(var traffic_light_fine_detector_param_path)"/>
         <arg name="yolox_traffic_light_detector_param_path" value="$(var yolox_traffic_light_detector_param_path)"/>
         <arg name="car_traffic_light_classifier_param_path" value="$(var car_traffic_light_classifier_param_path)"/>
@@ -321,10 +325,6 @@
         <arg name="traffic_light_multi_camera_fusion_param_path" value="$(var traffic_light_multi_camera_fusion_param_path)"/>
         <arg name="traffic_light_arbiter_param_path" value="$(var traffic_light_arbiter_param_path)"/>
         <arg name="crosswalk_traffic_light_estimator_param_path" value="$(var crosswalk_traffic_light_estimator_param_path)"/>
-        <arg name="fusion_only" value="$(var traffic_light_recognition/fusion_only)"/>
-        <arg name="camera_namespaces" value="$(var traffic_light_recognition/camera_namespaces)"/>
-        <arg name="use_high_accuracy_detection" value="$(var traffic_light_recognition/use_high_accuracy_detection)"/>
-        <arg name="high_accuracy_detection_type" value="$(var traffic_light_recognition/high_accuracy_detection_type)"/>
         <arg name="whole_image_detection/model_path" value="$(var traffic_light_recognition/whole_image_detection/model_path)"/>
         <arg name="whole_image_detection/label_path" value="$(var traffic_light_recognition/whole_image_detection/label_path)"/>
         <arg name="fine_detection/model_path" value="$(var traffic_light_recognition/fine_detection/model_path)"/>

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

@@ -8,7 +8,7 @@
   <arg name="high_accuracy_detection_type"/>
 
   <!-- parameters -->
-  <arg name="traffic_light_map_based_detector_param_path"/>
+  <arg name="each_traffic_light_map_based_detector_param_path"/>
   <arg name="traffic_light_fine_detector_param_path"/>
   <arg name="yolox_traffic_light_detector_param_path"/>
   <arg name="car_traffic_light_classifier_param_path"/>
@@ -49,13 +49,19 @@
       <arg name="input/vector_map" value="$(var input/vector_map)"/>
       <arg name="input/route" value="$(var input/route)"/>
       <arg name="use_high_accuracy_detection" value="$(var use_high_accuracy_detection)"/>
-      <arg name="param_path" value="$(var traffic_light_map_based_detector_param_path)"/>
+      <arg name="param_path" value="$(var each_traffic_light_map_based_detector_param_path)"/>
     </include>
     <include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light_node_container.launch.py">
       <arg name="enable_image_decompressor" value="$(var enable_image_decompressor)"/>
       <arg name="camera_namespaces" value="$(var camera_namespaces)"/>
       <arg name="use_high_accuracy_detection" value="$(var use_high_accuracy_detection)"/>
       <arg name="high_accuracy_detection_type" value="$(var high_accuracy_detection_type)"/>
+      <arg name="traffic_light_fine_detector_param_path" value="$(var traffic_light_fine_detector_param_path)"/>
+      <arg name="yolox_traffic_light_detector_param_path" value="$(var yolox_traffic_light_detector_param_path)"/>
+      <arg name="car_traffic_light_classifier_param_path" value="$(var car_traffic_light_classifier_param_path)"/>
+      <arg name="pedestrian_traffic_light_classifier_param_path" value="$(var pedestrian_traffic_light_classifier_param_path)"/>
+      <arg name="traffic_light_roi_visualizer_param_path" value="$(var traffic_light_roi_visualizer_param_path)"/>
+      <arg name="traffic_light_selector_param_path" value="$(var traffic_light_selector_param_path)"/>
       <arg name="whole_image_detection/model_path" value="$(var whole_image_detection/model_path)"/>
       <arg name="whole_image_detection/label_path" value="$(var whole_image_detection/label_path)"/>
       <arg name="fine_detection/model_path" value="$(var fine_detection/model_path)"/>
@@ -64,12 +70,6 @@
       <arg name="classification/car/label_path" value="$(var classification/car/label_path)"/>
       <arg name="classification/pedestrian/model_path" value="$(var classification/pedestrian/model_path)"/>
       <arg name="classification/pedestrian/label_path" value="$(var classification/pedestrian/label_path)"/>
-      <arg name="traffic_light_fine_detector_param_path" value="$(var traffic_light_fine_detector_param_path)"/>
-      <arg name="yolox_traffic_light_detector_param_path" value="$(var yolox_traffic_light_detector_param_path)"/>
-      <arg name="car_traffic_light_classifier_param_path" value="$(var car_traffic_light_classifier_param_path)"/>
-      <arg name="pedestrian_traffic_light_classifier_param_path" value="$(var pedestrian_traffic_light_classifier_param_path)"/>
-      <arg name="traffic_light_roi_visualizer_param_path" value="$(var traffic_light_roi_visualizer_param_path)"/>
-      <arg name="traffic_light_selector_param_path" value="$(var traffic_light_selector_param_path)"/>
       <arg name="use_intra_process" value="true"/>
       <arg name="use_multithread" value="true"/>
     </include>

launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light_node_container.launch.py

@@ -74,12 +74,6 @@ def create_traffic_light_node_container(namespace, context, *args, **kwargs):
         "output/traffic_signals": f"/perception/traffic_light_recognition/{namespace}/classification/traffic_signals",
     }
 
-    def create_parameter_dict(*args):
-        result = {}
-        for x in args:
-            result[x] = LaunchConfiguration(x)
-        return result
-
     # parameter files
     traffic_light_whole_image_detector_param = ParameterFile(
         param_file=LaunchConfiguration("yolox_traffic_light_detector_param_path").perform(context),
@@ -272,7 +266,7 @@ def create_parameter_dict(*args):
                 ],
                 remappings=[
                     ("~/in/image", camera_arguments["input/image"]),
-                    ("~/out/objects", internal_node_name),
+                    ("~/out/objects", internal_node_name + "/rois"),
                     ("~/out/image", internal_node_name + "/debug/image"),
                     (
                         "~/out/image/compressed",
@@ -295,7 +289,7 @@ def create_parameter_dict(*args):
                 namespace=f"{namespace}/detection",
                 parameters=[traffic_light_selector_param],
                 remappings=[
-                    ("input/detected_rois", internal_node_name),
+                    ("input/detected_rois", internal_node_name + "/rois"),
                     ("input/rough_rois", "rough/rois"),
                     ("input/expect_rois", "expect/rois"),
                     ("input/camera_info", camera_arguments["input/camera_info"]),

launch/tier4_simulator_launch/launch/simulator.launch.xml

@@ -140,7 +140,7 @@
           <arg name="use_high_accuracy_detection" value="true"/>
           <arg name="high_accuracy_detection_type" value="fine_detection"/>
           <arg
-            name="traffic_light_map_based_detector_param_path"
+            name="each_traffic_light_map_based_detector_param_path"
             value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_recognition/traffic_light_map_based_detector/TRAFFIC_LIGHT_RECOGNITION_CAMERA_NAMESPACE_traffic_light_map_based_detector.param.yaml"
           />
           <arg