Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

fix: update edge auto #17

Merged
merged 4 commits into from
Sep 11, 2024
Merged

fix: update edge auto #17

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
ffd5f0a
refactor(yolox): change param file name because of its versatility
manato Sep 9, 2024
2627942
revert(yolox): introduce condition to use composable container
manato Sep 9, 2024
ab9d630
revert(bytetrack): introduce condition to use composable container
manato Sep 9, 2024
8351651
fix(image_transport_decompressor): treat autoware prefix
manato Sep 9, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions edge_auto_jetson_launch/config/image_transport_decompressor.param.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
/**:
ros__parameters:
encoding: default
0 ...etson_launch/config/yolox_tiny.param.yaml → ...uto_jetson_launch/config/yolox.param.yaml
View file
Open in desktop
File renamed without changes.
36 changes: 30 additions & 6 deletions edge_auto_jetson_launch/launch/bytetrack.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,18 +7,42 @@
<arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/bytetrack_visualizer.param.yaml"/>
<arg name="enable_visualizer" default="true"/>
<arg name="camera_id" default="0" />
<arg name="container_name" default="" />

<node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(var camera_id)">
<remap from="~/in/rect" to="$(var input/objects)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
<param from="$(var bytetrack_param_path)"/>
</node>
<let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
<!-- If container name is not specified,
execute function as an individual node -->
<group if="$(var empty_container_is_specified)">
<node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(var camera_id)">
<remap from="~/in/rect" to="$(var input/objects)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
<param from="$(var bytetrack_param_path)"/>
</node>
</group>

<!-- If container name is specified,
execute function as a composable node and load it into the container -->
<group unless= "$(var empty_container_is_specified)">
<load_composable_node target="$(var container_name)">
<composable_node pkg="autoware_bytetrack" plugin="autoware::bytetrack::ByteTrackNode" name="bytetrack$(var camera_id)">
<remap from="~/in/rect" to="$(var input/objects)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/>
<param from="$(var bytetrack_param_path)"/>
<extra_arg name="use_intra_process_comms" value="true"/>
</composable_node>
</load_composable_node>
</group>

<node pkg="autoware_bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(var enable_visualizer)" name="bytetrack_visualizer_node_exe_$(var camera_id)">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/in/rect" to="$(var output/objects)"/>
<remap from="~/in/uuid" to="$(var output/objects)/debug/uuid"/>
<remap from="~/out/image" to="$(var output/objects)/debug/image"/>
<remap from="~/out/image/compressed" to="$(var output/objects)/debug/image/compressed"/>
<remap from="~/out/image/compressedDepth" to="$(var output/objects)/debug/image/compressedDepth"/>
<remap from="~/out/image/theora" to="$(var output/objects)/debug/image/theora"/>
<param from="$(var bytetrack_visualizer_param_path)"/>
</node>

Expand Down
7 changes: 5 additions & 2 deletions edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,29 +4,32 @@
<!-- image topic name to be published -->
<arg name="output/raw_image" default="image_raw" />

<!-- container naem that this ROS node to be loaded -->

Check warning on line 7 in edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Unknown word (naem)
<arg name="container_name" default="" />
<!-- flag to use ROS2 intra process -->

Check warning on line 9 in edge_auto_jetson_launch/launch/image_transport_decompressor.launch.xml

View workflow job for this annotation

GitHub Actions / spell-check-differential 

Forbidden word (ROS2)
<arg name="use_intra_process" default="True" />

<arg name="image_transport_decompressor_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/image_transport_decompressor.param.yaml"/>

<let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
<!-- If container name is not specified,
execute function as an individual node -->
<group if="$(var empty_container_is_specified)">
<node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor">
<node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="image_transport_decompressor">
<remap from="~/input/compressed_image" to="$(var input/compressed_image)" />
<remap from="~/output/raw_image" to="$(var output/raw_image)" />
<param from="$(var image_transport_decompressor_param_path)"/>
</node>
</group>

<!-- If container name is specified,
execute function as a composable node and load it into the container -->
<group unless="$(var empty_container_is_specified)">
<load_composable_node target="$(var container_name)">
<composable_node pkg="image_transport_decompressor" plugin="image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor">
<composable_node pkg="autoware_image_transport_decompressor" plugin="autoware::image_preprocessor::ImageTransportDecompressor" name="image_transport_decompressor">
<remap from="~/input/compressed_image" to="$(var input/compressed_image)" />
<remap from="~/output/raw_image" to="$(var output/raw_image)" />
<param from="$(var image_transport_decompressor_param_path)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" />
</composable_node>
</load_composable_node>
Expand Down
37 changes: 28 additions & 9 deletions edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -4,16 +4,35 @@
<arg name="output/objects" default="/perception/object_recognition/detection/rois0"/>
<arg name="model_name" default="yolox-sPlus-opt"/>
<arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
<arg name="yolox_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/yolox_tiny.param.yaml"/>
<arg name="use_decompress" default="true" description="use image decompress"/>
<arg name="yolox_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/yolox.param.yaml"/>
<arg name="build_only" default="false" description="exit after trt engine is built"/>
<arg name="camera_id" default="0" />

<node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var camera_id)" output="screen">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<param from="$(var yolox_param_path)" allow_substs="true"/>
<param name="build_only" value="$(var build_only)"/>
</node>
<arg name="container_name" default="" />

<let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
<!-- If container name is not specified,
execute function as an individual node -->
<group if="$(var empty_container_is_specified)">
<node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(var camera_id)" output="screen">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<param from="$(var yolox_param_path)" allow_substs="true"/>
<param name="build_only" value="$(var build_only)"/>
</node>
</group>

<!-- If container name is specified,
execute function as a composable node and load it into the container -->
<group unless= "$(var empty_container_is_specified)">
<load_composable_node target="$(var container_name)">
<composable_node pkg="autoware_tensorrt_yolox" plugin="autoware::tensorrt_yolox::TrtYoloXNode" name="tensorrt_yolox_$(var camera_id)">
<remap from="~/in/image" to="$(var input/image)"/>
<remap from="~/out/objects" to="$(var output/objects)"/>
<param from="$(var yolox_param_path)" allow_substs="true"/>
<param name="build_only" value="$(var build_only)"/>
<extra_arg name="use_intra_process_comms" value="true" />
</composable_node>
</load_composable_node>
</group>

</launch>
Loading