make radar far object integration switchable between detection/tracking

Signed-off-by: yoshiri <[email protected]>
autowarefoundation · Oct 11, 2023 · 6116a99 · 6116a99
1 parent e219860
commit 6116a99
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Showing 3 changed files with 49 additions and 12 deletions.
diff --git a/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml b/.../launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
@@ -405,14 +405,17 @@
     </include>
   </group>
 
-  <!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
-  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="near_objects"/>
-    <arg name="input/object1" value="radar/far_objects"/>
-    <arg name="output/object" value="$(var output/objects)"/>
-    <arg name="priority_mode" value="0"/>
-    <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
-    <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
-    <arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
-  </include>
+  <!-- 'radar_long_range_integration' should defined in perception.launch -->
+  <group if="$(eval &quot;'$(var radar_long_range_integration)'=='detection'&quot;)">
+    <!-- Merge far_objects and near_objects. This merger will be removed after tracking fusion operates stably. -->
+    <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="input/object0" value="near_objects"/>
+      <arg name="input/object1" value="radar/far_objects"/>
+      <arg name="output/object" value="$(var output/objects)"/>
+      <arg name="priority_mode" value="0"/>
+      <arg name="data_association_matrix_path" value="$(var object_recognition_detection_object_merger_data_association_matrix_param_path)"/>
+      <arg name="distance_threshold_list_path" value="$(var object_recognition_detection_object_merger_distance_threshold_list_path)"/>
+      <arg name="sync_queue_size" value="$(var far_object_merger_sync_queue_size)"/>
+    </include>
+  </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -3,8 +3,16 @@
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
   <arg name="publish_rate" default="10.0"/>
   <arg name="enable_delay_compensation" default="true"/>
+
+  <!-- Radar Tracking and Merger parameters -->
+  <arg name="radar_long_range_integration" default="detection" description="integration method for radar long range information. Following args are used only if this parameter is set to 'tracking'"/>
   <arg name="radar_tracker_input" default="/perception/object_recognition/detection/radar/far_objects"/>
   <arg name="radar_tracker_output" default="/perception/object_recognition/tracking/radar/far_objects"/>
+  <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path" description="association param file for radar far object tracking"/>
+  <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" description="tracking setting param file for radar far object tracking"/>
+  <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" description="node param file for radar far object tracking"/>
+  <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" description="association param file for radar and lidar object merger"/>
+  <arg name="object_recognition_tracking_object_merger_node_param_path" description="node param file for radar and lidar object merger"/>
 
   <group>
     <!--multi object tracking-->
@@ -14,8 +22,9 @@
       <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
     </include>
 
-    <!--radar long range dynamic object tracking if mode contains radar input-->
-    <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot; or &quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot; or &quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
+    <!-- add radar long range tracking and merger node if integration parameter is set to tracking -->
+    <group if="$(eval &quot;'$(var radar_long_range_integration)'=='tracking'&quot;)">
+      <!--radar long range dynamic object tracking-->
       <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
         <arg name="publish_rate" value="$(var publish_rate)"/>
         <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
@@ -24,6 +33,15 @@
         <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>
         <arg name="tracker_setting_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
       </include>
+
+      <!--radar long range dynamic object tracking merger-->
+      <include file="$(find-pkg-share tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
+        <arg name="main_object" value="/perception/object_recognition/tracking/objects"/>
+        <arg name="sub_object" value="$(var radar_tracker_output)"/>
+        <arg name="output" value="/perception/object_recognition/tracking/merged/objects"/>
+        <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
+        <arg name="node_param_file_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
+      </include>
     </group>
   </group>
 </launch>
diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -96,6 +96,14 @@
   <arg name="fusion_distance" default="100.0"/>
   <arg name="trust_object_distance" default="100.0"/>
 
+  <!-- Radar long range integration methods -->
+  <arg
+    name="radar_long_range_integration"
+    default="detection"
+    description="integration method for radar long range information.
+   'detection' means radar information is merged in detection launch. 'tracking' means radar information is merged in tracking launch. 'none' means radar information is not merged."
+  />
+
   <!-- Perception module -->
   <group>
     <push-ros-namespace namespace="perception"/>
@@ -181,6 +189,14 @@
         <push-ros-namespace namespace="tracking"/>
         <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
           <arg name="mode" value="$(var mode)"/>
+          <arg
+            name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"
+            value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"
+          />
+          <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path" value="$(var object_recognition_tracking_radar_object_tracker_tracking_setting_param_path)"/>
+          <arg name="object_recognition_tracking_radar_object_tracker_node_param_path" value="$(var object_recognition_tracking_radar_object_tracker_node_param_path)"/>
+          <arg name="object_recognition_tracking_object_merger_data_association_matrix_param_path" value="$(var object_recognition_tracking_object_merger_data_association_matrix_param_path)"/>
+          <arg name="object_recognition_tracking_object_merger_node_param_path" value="$(var object_recognition_tracking_object_merger_node_param_path)"/>
         </include>
       </group>