From 67459763bd61a57e044132174dd1c403550c1f00 Mon Sep 17 00:00:00 2001
From: Yukihiro Saito <yukky.saito@gmail.com>
Date: Fri, 11 Mar 2022 11:14:54 +0900
Subject: [PATCH] fix: detection launch in perception_launch (#506)

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>
---
 .../camera_lidar_fusion_based_detection.launch.xml        | 8 ++++----
 .../detection/lidar_based_detection.launch.xml            | 1 +
 .../euclidean_cluster/launch/euclidean_cluster.launch.py  | 2 +-
 .../launch/voxel_grid_based_euclidean_cluster.launch.py   | 2 +-
 4 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
index ba7933ce68d03..16fa7234a7650 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -34,9 +34,9 @@
   </include> -->
 
   <group>
-    <push-ros-namespace namespace="euclidean"/>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-      <arg name="output_clusters" value="lidar/clusters"/>
+      <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
     </include>
     <include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
@@ -57,7 +57,7 @@
       <arg name="input/camera_info7" value="$(var camera_info7)"/>
       <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
       <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/clusters" value="clustering/lidar/clusters"/>
+      <arg name="input/clusters" value="clusters"/>
       <arg name="input/image0" value="$(var image_raw0)"/>
       <arg name="input/image1" value="$(var image_raw1)"/>
       <arg name="input/image2" value="$(var image_raw2)"/>
@@ -120,7 +120,7 @@
   <!-- Merger -->
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
-    <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
+    <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
index 692697d6d9964..579e38e8ff46c 100644
--- a/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
+++ b/launch/tier4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,6 +5,7 @@
 
   <!-- Clustering -->
   <group>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
       <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
index 4e34538127f13..430ef0ea49367 100644
--- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py
@@ -32,7 +32,7 @@ def load_composable_node_param(param_path):
         with open(LaunchConfiguration(param_path).perform(context), "r") as f:
             return yaml.safe_load(f)["/**"]["ros__parameters"]
 
-    ns = "euclidean_cluster"
+    ns = ""
     pkg = "euclidean_cluster"
 
     # set voxel grid filter as a component
diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
index 8d36f818cf133..2cfc5142f6fd8 100644
--- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
+++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py
@@ -32,7 +32,7 @@ def load_composable_node_param(param_path):
         with open(LaunchConfiguration(param_path).perform(context), "r") as f:
             return yaml.safe_load(f)["/**"]["ros__parameters"]
 
-    ns = "clustering"
+    ns = ""
     pkg = "euclidean_cluster"
 
     # set compare map filter as a component