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feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (#6861) #1271

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merged 1 commit into from
Apr 23, 2024
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feat(perception_online_evaluator): add use_perception_online_evaluator option and disable it by default (#6861) #1271

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3 changes: 2 additions & 1 deletion launch/tier4_perception_launch/launch/perception.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,7 @@
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="objects_filter_method" default="lanelet_filter"/>
<arg name="objects_validation_method" default="obstacle_pointcloud"/>
<arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>

<!-- Traffic light recognition parameters -->
<arg name="use_traffic_light_recognition" default="true"/>
Expand Down Expand Up @@ -249,7 +250,7 @@
</group>

<!-- perception evaluator -->
<group>
<group if="$(var use_perception_online_evaluator)">
<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
</group>
</launch>
3 changes: 2 additions & 1 deletion launch/tier4_simulator_launch/launch/simulator.launch.xml
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Expand Up @@ -21,6 +21,7 @@
<arg name="fusion_only" default="true" description="enable only camera and V2X fusion when enabling traffic light"/>
<arg name="perception/use_base_link_z" default="true" description="dummy perception uses base_link z axis coordinate if it is true"/>
<arg name="sensing/visible_range" default="300.0" description="visible range when using dummy perception"/>
<arg name="use_perception_online_evaluator" default="false" description="use perception online evaluator"/>

<arg name="vehicle_model" description="vehicle model name"/>
<arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
Expand Down Expand Up @@ -89,7 +90,7 @@
</group>

<!-- perception evaluator -->
<group>
<group if="$(var use_perception_online_evaluator)">
<include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_evaluator.launch.xml"/>
</group>

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