feat(autoware_object_merger, autoware_tracking_object_merger): enable…

… anonymized node names to be configurable (#9733) feat: enable anonymized node names to be configurable Signed-off-by: Taekjin LEE <[email protected]>
autowarefoundation · Dec 24, 2024 · f16ff53 · f16ff53
1 parent 8865d0f
commit f16ff53
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Showing 6 changed files with 12 additions and 2 deletions.
diff --git a/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -120,6 +120,7 @@
   <!-- 1st merger: camera_lidar_fusion + lidar cluster-->
   <group>
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_alpha"/>
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -132,6 +133,7 @@
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_beta"/>
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>

diff --git a/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -143,6 +143,7 @@
   <!-- 1st merger -->
   <group>
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_alpha"/>
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -155,6 +156,7 @@
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_beta"/>
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>
@@ -178,6 +180,7 @@
       Control parameter 'use_radar_tracking_fusion' should defined in perception.launch.xml -->
   <group unless="$(var use_radar_tracking_fusion)">
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_gamma"/>
       <arg name="input/object0" value="$(var merger3/input/objects0)"/>
       <arg name="input/object1" value="$(var merger3/input/objects1)"/>
       <arg name="output/object" value="$(var merger3/output/objects)"/>

diff --git a/...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml b/...ier4_perception_launch/launch/object_recognition/detection/merger/lidar_merger.launch.xml
@@ -58,6 +58,7 @@
   <!-- 1st merger: ML detection + pointcloud cluster -->
   <group>
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_alpha"/>
       <arg name="input/object0" value="$(var merger1/input/objects0)"/>
       <arg name="input/object1" value="$(var merger1/input/objects1)"/>
       <arg name="output/object" value="$(var merger1/output/objects)"/>
@@ -70,6 +71,7 @@
   <!-- 2nd merger: + detection_by_tracker -->
   <group if="$(var use_detection_by_tracker)">
     <include file="$(find-pkg-share autoware_object_merger)/launch/object_association_merger.launch.xml">
+      <arg name="node_name" value="object_association_merger_beta"/>
       <arg name="input/object0" value="$(var merger2/input/objects0)"/>
       <arg name="input/object1" value="$(var merger2/input/objects1)"/>
       <arg name="output/object" value="$(var merger2/output/objects)"/>

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
@@ -57,6 +57,7 @@
 
       <!-- tracking object merger to merge near objects and far objects -->
       <include file="$(find-pkg-share autoware_tracking_object_merger)/launch/decorative_tracker_merger.launch.xml">
+        <arg name="node_name" value="decorative_tracker_merger"/>
         <arg name="input/main_object" value="$(var tracker_merger/input/main_objects)"/>
         <arg name="input/sub_object" value="$(var tracker_merger/input/sub_objects)"/>
         <arg name="output" value="$(var tracker_merger/output/objects)"/>

diff --git a/perception/autoware_object_merger/launch/object_association_merger.launch.xml b/perception/autoware_object_merger/launch/object_association_merger.launch.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="node_name" default="$(anon object_association_merger)"/>
   <arg name="input/object0" default="object0"/>
   <arg name="input/object1" default="object1"/>
   <arg name="output/object" default="merged_object"/>
@@ -8,7 +9,7 @@
   <arg name="distance_threshold_list_path" default="$(find-pkg-share autoware_object_merger)/config/overlapped_judge.param.yaml"/>
   <arg name="object_association_merger_param_path" default="$(find-pkg-share autoware_object_merger)/config/object_association_merger.param.yaml"/>
 
-  <node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(anon object_association_merger)" output="screen">
+  <node pkg="autoware_object_merger" exec="object_association_merger_node" name="$(var node_name)" output="screen">
     <remap from="input/object0" to="$(var input/object0)"/>
     <remap from="input/object1" to="$(var input/object1)"/>
     <remap from="output/object" to="$(var output/object)"/>

diff --git a/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/autoware_tracking_object_merger/launch/decorative_tracker_merger.launch.xml
@@ -1,13 +1,14 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="node_name" default="$(anon decorative_tracker_merger)"/>
   <arg name="input/main_object" default="main_object"/>
   <arg name="input/sub_object" default="sub_object"/>
   <arg name="output" default="merged_object"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/data_association_matrix.param.yaml"/>
   <arg name="merge_options_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger_policy.param.yaml"/>
   <arg name="node_param_file_path" default="$(find-pkg-share autoware_tracking_object_merger)/config/decorative_tracker_merger.param.yaml"/>
 
-  <node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(anon decorative_tracker_merger)" output="screen">
+  <node pkg="autoware_tracking_object_merger" exec="decorative_tracker_merger_node" name="$(var node_name)" output="screen">
     <remap from="input/main_object" to="$(var input/main_object)"/>
     <remap from="input/sub_object" to="$(var input/sub_object)"/>
     <remap from="output/object" to="$(var output)"/>