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chore(tier4_perception_launch): enable to use argument centerpoint_model_name #1182

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chore(tier4_perception_launch): enable to use argument centerpoint_model_name #1182

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328aec7
add arguments
MasatoSaeki Oct 2, 2024
8e471f8
adopt transfusion
MasatoSaeki Oct 2, 2024
6b35e19
add lidar_detection_model_type
MasatoSaeki Oct 3, 2024
7a9d406
integrate all in lidar_detection_model
MasatoSaeki Oct 3, 2024
af9c0b8
Merge branch 'main' into chore/use_centerpoint_model_name
MasatoSaeki Oct 3, 2024
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3 changes: 2 additions & 1 deletion autoware_launch/launch/components/tier4_perception_component.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,12 +19,13 @@
<arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
<arg name="detected_objects_validation_method" default="obstacle_pointcloud" description="options: obstacle_pointcloud, occupancy_grid (must be used with laserscan_based_occupancy_grid_map)"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
<arg name="lidar_detection_model" default="centerpoint_tiny" description="options: `centerpoint*`, `transfusion*`, `apollo*`, `pointpainting*`, `clustering*`"/>
<arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>

<include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
<!-- Options to Switch Launch Function/Module -->
<arg name="mode" value="$(var perception_mode)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>

<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
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