fix: detection launch in perception_launch (autowarefoundation#506)

Signed-off-by: Yukihiro Saito <[email protected]>
satoshi-ota · Mar 11, 2022 · 6745976 · 6745976
1 parent 1d36fae
commit 6745976
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Showing 4 changed files with 7 additions and 6 deletions.
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...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/...r4_perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/...r4_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
@@ -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
@@ -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