generated from tier4/ros2-project-template
-
Notifications
You must be signed in to change notification settings - Fork 5
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
launcher. fix launcher to the autoware 2024.07 version
Signed-off-by: amc-nu <[email protected]>
- Loading branch information
Showing
6 changed files
with
83 additions
and
143 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| /**: | ||
| ros__parameters: | ||
| track_buffer_length: 30 |
3 changes: 3 additions & 0 deletions
3
edge_auto_jetson_launch/config/bytetrack_visualizer.param.yaml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| /**: | ||
| ros__parameters: | ||
| use_raw: true |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| # cspell:ignore semseg | ||
| /**: | ||
| ros__parameters: | ||
|
|
||
| # refine segmentation mask by overlay roi class | ||
| # disable when sematic segmentation accuracy is good enough | ||
| is_roi_overlap_segment: true | ||
|
|
||
| # minimum existence_probability of detected roi considered to replace segmentation | ||
| overlap_roi_score_threshold: 0.3 | ||
|
|
||
| # publish color mask for result visualization | ||
| is_publish_color_mask: false | ||
|
|
||
| roi_overlay_segment_label: | ||
| UNKNOWN : true | ||
| CAR : false | ||
| TRUCK : false | ||
| BUS : false | ||
| MOTORCYCLE : true | ||
| BICYCLE : true | ||
| PEDESTRIAN : true | ||
| ANIMAL: true | ||
|
|
||
| model_path: "$(var data_path)/tensorrt_yolox/$(var model_name).onnx" # The onnx file name for YOLOX model. | ||
| label_path: "$(var data_path)/tensorrt_yolox/label.txt" # The label file path for YOLOX model. | ||
| color_map_path: "$(var data_path)/tensorrt_yolox/semseg_color_map.csv" | ||
| score_threshold: 0.35 # Objects with a score lower than this value will be ignored. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it. | ||
| nms_threshold: 0.7 # Detection results will be ignored if IoU over this value. This threshold will be ignored if specified model contains EfficientNMS_TRT module in it. | ||
|
|
||
| precision: "fp16" # Operation precision to be used on inference. Valid value is one of: [fp32, fp16, int8]. | ||
| calibration_algorithm: "MinMax" # Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]. | ||
| dla_core_id: -1 # If positive ID value is specified, the node assign inference task to the DLA core. | ||
| quantize_first_layer: false # If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8. | ||
| quantize_last_layer: false # If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8. | ||
| profile_per_layer: false # If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose. | ||
| clip_value: 0.0 # If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration. | ||
| preprocess_on_gpu: true # If true, pre-processing is performed on GPU. | ||
| calibration_image_list_path: "" # Path to a file which contains path to images. Those images will be used for int8 quantization. |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,60 +1,25 @@ | ||
| <launch> | ||
| <!-- input topic name to be subscribed (bbox) --> | ||
| <arg name="input/objects" default="/perception/object_recognition/detection/rois0" /> | ||
| <!-- input topic name to be subscribed (image for visualizer) --> | ||
| <arg name="input/image" default="image_raw" /> | ||
| <!-- flag to describe whether input topic is raw or compressed --> | ||
| <arg name="input/image/is_raw" default="True" /> | ||
| <!-- output topic name to be published (bbox) --> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/tracked/rois0" /> | ||
| <!-- container naem that this ROS node to be loaded --> | ||
| <arg name="container_name" default="" /> | ||
| <!-- flag to use ROS2 intra process --> | ||
| <arg name="use_intra_process" default="True" /> | ||
| <!-- flag to enable bytetrack visualization --> | ||
| <arg name="enable_bytetrack_visualizer" default="True" /> | ||
| <arg name="input/image" default="/sensing/camera/camera0/image_rect_color"/> | ||
| <arg name="in_image_compressed" default="$(var input/image)/compressed"/> | ||
| <arg name="input/objects" default="/perception/object_recognition/detection/rois0"/> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/tracked/rois0"/> | ||
| <arg name="bytetrack_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/bytetrack.param.yaml"/> | ||
| <arg name="bytetrack_visualizer_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/bytetrack_visualizer.param.yaml"/> | ||
| <arg name="enable_visualizer" default="true"/> | ||
| <arg name="camera_id" default="0" /> | ||
|
|
||
| <!-- algorithm parameters --> | ||
| <arg name="track_buffer_length" default="30" | ||
| description="The frame count length that a tracklet is considered to be valid" /> | ||
|
|
||
| <let name="empty_container_is_specified" value="$(eval 'not "$(var container_name)"')" /> | ||
| <!-- If container name is not specified, | ||
| execute function as an individual node --> | ||
| <group if="$(var empty_container_is_specified)"> | ||
| <node pkg="bytetrack" exec="bytetrack_node_exe" name="bytetrack"> | ||
| <remap from="~/in/rect" to="$(var input/objects)"/> | ||
| <remap from="~/out/objects" to="$(var output/objects)"/> | ||
| <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/> | ||
| <param name="track_buffer_length" value="$(var track_buffer_length)"/> | ||
| </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="bytetrack" plugin="bytetrack::ByteTrackNode" name="bytetrack"> | ||
| <remap from="~/in/rect" to="$(var input/objects)"/> | ||
| <remap from="~/out/objects" to="$(var output/objects)"/> | ||
| <remap from="~/out/objects/debug/uuid" to="$(var output/objects)/debug/uuid"/> | ||
| <param name="track_buffer_length" value="$(var track_buffer_length)"/> | ||
| <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
| <node pkg="autoware_bytetrack" exec="bytetrack_node_exe" output="screen" name="bytetrack_node_exe_$(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> | ||
|
|
||
| <!-- Execute visualizer as a separated node --> | ||
| <node pkg="bytetrack" exec="bytetrack_visualizer_node_exe" | ||
| name="bytetrack_visualizer" if="$(var enable_bytetrack_visualizer)"> | ||
| <remap from="~/in/image" to="$(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 name="use_raw" value="$(var input/image/is_raw)" /> | ||
| <node pkg="autoware_bytetrack" exec="bytetrack_visualizer_node_exe" output="screen" if="$(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"/> | ||
| <param from="$(var bytetrack_visualizer_param_path)"/> | ||
| </node> | ||
|
|
||
| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
104 changes: 15 additions & 89 deletions
104
edge_auto_jetson_launch/launch/tensorrt_yolox.launch.xml
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,93 +1,19 @@ | ||
| <launch> | ||
| <!-- image topic name to be subscribed --> | ||
| <arg name="input/image" default="image_raw" /> | ||
| <!-- output topic name to be published (bbox) --> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/rois0" /> | ||
| <!-- path to the YOLOX model to be loaded --> | ||
| <arg name="model_path" default="$(find-pkg-share tensorrt_yolox)/data/yolox-tiny.onnx" /> | ||
| <!-- path to the label file to explain category ID and string --> | ||
| <arg name="label_path" default="$(find-pkg-share tensorrt_yolox)/data/label.txt" /> | ||
| <!-- container naem that this ROS node to be loaded --> | ||
| <arg name="container_name" default="" /> | ||
| <!-- flag to use ROS2 intra process --> | ||
| <arg name="use_intra_process" default="True" /> | ||
|
|
||
| <!-- algorithm parameters --> | ||
| <arg name="score_threshold" default="0.35" /> | ||
| <arg name="nms_threshold" default="0.7" /> | ||
| <arg name="precision" default="fp32" | ||
| description="operation precision to be used on inference.Valid value is one of: [fp32, fp16, int8]" /> | ||
| <arg name="calibration_algorithm" | ||
| default="MinMax" | ||
| description="Calibration algorithm to be used for quantization when precision==int8. Valid value is one of: [Entropy, (Legacy | Percentile), MinMax]" /> | ||
| <arg name="dla_core_id" default="-1" | ||
| description="If positive ID value is specified, the node assign inference task to the DLA core" /> | ||
| <arg name="quantize_first_layer" default="false" | ||
| description="If true, set the operating precision for the first (input) layer to be fp16. This option is valid only when precision==int8" /> | ||
| <arg name="quantize_last_layer" default="false" | ||
| description="If true, set the operating precision for the last (output) layer to be fp16. This option is valid only when precision==int8" /> | ||
| <arg name="profile_per_layer" default="false" | ||
| description="If true, profiler function will be enabled. Since the profile function may affect execution speed, it is recommended to set this flag true only for development purpose." /> | ||
| <arg name="clip_value" default="0.0" | ||
| description="If positive value is specified, the value of each layer output will be clipped between [0.0, clip_value]. This option is valid only when precision==int8 and used to manually specify the dynamic range instead of using any calibration." /> | ||
| <arg name="preprocess_on_gpu" default="true" description="If true, pre-processing is performed on GPU" /> | ||
| <arg name="calibration_image_list_path" default="" | ||
| description="Path to a file which contains path to images. Those images will be used for int8 quantization." /> | ||
|
|
||
| <let name="empty_container_is_specified" value="$(eval 'not "$(var container_name)"')" /> | ||
| <!-- If container name is not specified, | ||
| execute function as an individual node --> | ||
| <group if="$(var empty_container_is_specified)"> | ||
| <node pkg="tensorrt_yolox" exec="tensorrt_yolox_node_exe" name="tensorrt_yolox"> | ||
| <remap from="~/in/image" to="$(var input/image)" /> | ||
| <remap from="~/out/objects" to="$(var output/objects)" /> | ||
| <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 name="score_threshold" value="$(var score_threshold)" /> | ||
| <param name="nms_threshold" value="$(var nms_threshold)" /> | ||
| <param name="model_path" value="$(var model_path)" /> | ||
| <param name="label_path" value="$(var label_path)" /> | ||
| <param name="precision" value="$(var precision)" /> | ||
| <param name="calibration_algorithm" value="$(var calibration_algorithm)" /> | ||
| <param name="dla_core_id" value="$(var dla_core_id)" /> | ||
| <param name="quantize_first_layer" value="$(var quantize_first_layer)" /> | ||
| <param name="quantize_last_layer" value="$(var quantize_last_layer)" /> | ||
| <param name="profile_per_layer" value="$(var profile_per_layer)" /> | ||
| <param name="clip_value" value="$(var clip_value)" /> | ||
| <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)" /> | ||
| <param name="calibration_image_list_path" value="$(var calibration_image_list_path)" /> | ||
| </node> | ||
| </group> | ||
|
|
||
| <!-- If container name is specified, | ||
| execute function as a composable node and load it into the container --> | ||
| <group unless="$(var empty_container_is_specified)"> | ||
| <load_composable_node target="$(var container_name)"> | ||
| <composable_node pkg="tensorrt_yolox" plugin="tensorrt_yolox::TrtYoloXNode" name="tensorrt_yolox"> | ||
| <remap from="~/in/image" to="$(var input/image)" /> | ||
| <remap from="~/out/objects" to="$(var output/objects)" /> | ||
| <remap from="~/out/image" to="$(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="$(var output/objects)/debug/image/theora" /> | ||
| <param name="score_threshold" value="$(var score_threshold)" /> | ||
| <param name="nms_threshold" value="$(var nms_threshold)" /> | ||
| <param name="model_path" value="$(var model_path)" /> | ||
| <param name="label_path" value="$(var label_path)" /> | ||
| <param name="precision" value="$(var precision)" /> | ||
| <param name="calibration_algorithm" value="$(var calibration_algorithm)" /> | ||
| <param name="dla_core_id" value="$(var dla_core_id)" /> | ||
| <param name="quantize_first_layer" value="$(var quantize_first_layer)" /> | ||
| <param name="quantize_last_layer" value="$(var quantize_last_layer)" /> | ||
| <param name="profile_per_layer" value="$(var profile_per_layer)" /> | ||
| <param name="clip_value" value="$(var clip_value)" /> | ||
| <param name="preprocess_on_gpu" value="$(var preprocess_on_gpu)" /> | ||
| <param name="calibration_image_list_path" value="$(var calibration_image_list_path)" /> | ||
| <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)" /> | ||
| </composable_node> | ||
| </load_composable_node> | ||
| </group> | ||
| <arg name="input/image" default="image_raw"/> | ||
| <arg name="output/objects" default="/perception/object_recognition/detection/rois0"/> | ||
| <arg name="model_name" default="yolox-sPlus-opt"/> | ||
| <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/> | ||
| <arg name="yolox_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/yolox_tiny.param.yaml"/> | ||
| <arg name="use_decompress" default="true" description="use image decompress"/> | ||
| <arg name="build_only" default="false" description="exit after trt engine is built"/> | ||
| <arg name="camera_id" default="0" /> | ||
|
|
||
| <node pkg="autoware_tensorrt_yolox" exec="autoware_tensorrt_yolox_node_exe" name="tensorrt_yolox_$(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> | ||
|
|
||
| </launch> |