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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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tier4_perception_launch package from autodrrt repo

autonomous_emergency_braking control_performance_analysis control_validator external_cmd_selector joy_controller lane_departure_checker mpc_lateral_controller obstacle_collision_checker operation_mode_transition_manager pid_longitudinal_controller predicted_path_checker pure_pursuit shift_decider trajectory_follower_base trajectory_follower_node vehicle_cmd_gate diagnostic_converter kinematic_evaluator localization_evaluator planning_evaluator ekf_localizer geo_pose_projector gyro_odometer ar_tag_based_localizer landmark_manager localization_error_monitor localization_gnss localization_util ndt_scan_matcher pose2twist pose_initializer pose_instability_detector stop_filter tree_structured_parzen_estimator twist2accel yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer map_height_fitter map_loader map_projection_loader map_tf_generator lanelet2_map_preprocessor ros2_bevdet bytetrack cluster_merger compare_map_segmentation crosswalk_traffic_light_estimator detected_object_feature_remover detected_object_validation detection_by_tracker elevation_map_loader euclidean_cluster front_vehicle_velocity_estimator gpu_utils ground_segmentation heatmap_visualizer image_projection_based_fusion lidar_apollo_instance_segmentation lidar_apollo_segmentation_tvm lidar_apollo_segmentation_tvm_nodes lidar_centerpoint lidar_centerpoint_tvm map_based_prediction multi_object_tracker object_merger object_range_splitter object_velocity_splitter occupancy_grid_map_outlier_filter probabilistic_occupancy_grid_map radar_crossing_objects_noise_filter radar_fusion_to_detected_object radar_object_clustering radar_object_tracker radar_tracks_msgs_converter shape_estimation simple_object_merger tensorrt_classifier tensorrt_yolo tensorrt_yolox tracking_object_merger traffic_light_arbiter traffic_light_classifier traffic_light_fine_detector traffic_light_map_based_detector traffic_light_multi_camera_fusion traffic_light_occlusion_predictor traffic_light_ssd_fine_detector traffic_light_visualization behavior_path_avoidance_by_lane_change_module behavior_path_avoidance_module behavior_path_external_request_lane_change_module behavior_path_goal_planner_module behavior_path_lane_change_module behavior_path_planner behavior_path_planner_common behavior_path_side_shift_module behavior_path_start_planner_module behavior_velocity_blind_spot_module behavior_velocity_crosswalk_module behavior_velocity_detection_area_module behavior_velocity_intersection_module behavior_velocity_no_drivable_lane_module behavior_velocity_no_stopping_area_module behavior_velocity_occlusion_spot_module behavior_velocity_out_of_lane_module behavior_velocity_planner behavior_velocity_planner_common behavior_velocity_run_out_module behavior_velocity_speed_bump_module behavior_velocity_stop_line_module behavior_velocity_template_module behavior_velocity_traffic_light_module behavior_velocity_virtual_traffic_light_module behavior_velocity_walkway_module costmap_generator external_velocity_limit_selector freespace_planner freespace_planning_algorithms mission_planner motion_velocity_smoother objects_of_interest_marker_interface obstacle_avoidance_planner obstacle_cruise_planner obstacle_stop_planner obstacle_velocity_limiter path_smoother planning_debug_tools planning_test_utils planning_topic_converter planning_validator route_handler rtc_interface rtc_replayer bezier_sampler frenet_planner path_sampler sampler_common scenario_selector static_centerline_optimizer surround_obstacle_checker gnss_poser image_diagnostics image_transport_decompressor imu_corrector livox_tag_filter pointcloud_preprocessor radar_scan_to_pointcloud2 radar_static_pointcloud_filter radar_threshold_filter radar_tracks_noise_filter tier4_pcl_extensions vehicle_velocity_converter autoware_auto_msgs_adapter bluetooth_monitor component_state_monitor default_ad_api ad_api_adaptors ad_api_visualizers automatic_pose_initializer diagnostic_graph_aggregator dummy_diag_publisher dummy_infrastructure duplicated_node_checker emergency_handler mrm_comfortable_stop_operator mrm_emergency_stop_operator system_error_monitor system_monitor topic_state_monitor velodyne_monitor accel_brake_map_calibrator external_cmd_converter raw_vehicle_cmd_converter steer_offset_estimator vehicle_info_util launch loop_sim ssh_machine gpudirect-dds comm_lib autoware_ad_api_specs autoware_adapi_v1_msgs autoware_adapi_version_msgs autoware_auto_common autoware_auto_geometry autoware_auto_control_msgs autoware_auto_geometry_msgs autoware_auto_mapping_msgs autoware_auto_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs autoware_auto_perception_rviz_plugin autoware_auto_tf2 autoware_cmake autoware_lint_common autoware_utils lanelet2_extension autoware_common_msgs autoware_control_msgs autoware_localization_msgs autoware_map_msgs autoware_perception_msgs autoware_planning_msgs autoware_sensing_msgs autoware_system_msgs autoware_vehicle_msgs autoware_point_types autoware_testing bag_time_manager_rviz_plugin component_interface_specs component_interface_tools component_interface_utils cuda_utils fake_test_node geography_utils global_parameter_loader glog_component goal_distance_calculator grid_map_utils interpolation kalman_filter motion_utils object_recognition_utils osqp_interface path_distance_calculator perception_utils polar_grid qp_interface rtc_manager_rviz_plugin signal_processing tensorrt_common tier4_adapi_rviz_plugin tier4_api_utils tier4_automatic_goal_rviz_plugin tier4_autoware_utils tier4_calibration_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_rviz_plugin tier4_datetime_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_localization_rviz_plugin tier4_perception_rviz_plugin tier4_planning_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_target_object_type_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin time_utils simulator_compatibility_test traffic_light_recognition_marker_publisher traffic_light_utils tvm_utility dma_customer_msg dma_transfer eagleye_coordinate eagleye_navigation eagleye_msgs eagleye_rt eagleye_can_velocity_converter eagleye_fix2kml eagleye_geo_pose_converter eagleye_geo_pose_fusion eagleye_gnss_converter eagleye_tf llh_converter morai_msgs mussp ndt_omp orocos_kdl python_orocos_kdl pointcloud_to_laserscan rtklib_bridge rtklib_msgs autoware_external_api_msgs autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter tier4_api_msgs tier4_auto_msgs_converter tier4_control_msgs tier4_debug_msgs tier4_external_api_msgs tier4_hmi_msgs tier4_localization_msgs tier4_map_msgs tier4_perception_msgs tier4_planning_msgs tier4_rtc_msgs tier4_simulation_msgs tier4_system_msgs tier4_v2x_msgs tier4_vehicle_msgs tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch fastrtps cyclonedds lanelet2 lanelet2_core lanelet2_examples lanelet2_io lanelet2_maps lanelet2_matching lanelet2_projection lanelet2_python lanelet2_routing lanelet2_traffic_rules lanelet2_validation sophus angles behaviortree_cpp_v3 bond bond_core bondcpp smclib test_bond cudnn_cmake_module diagnostic_aggregator diagnostic_common_diagnostics diagnostic_updater diagnostics self_test filters geodesy geographic_info geographic_msgs grid_map grid_map_cmake_helpers grid_map_core grid_map_costmap_2d grid_map_cv grid_map_demos grid_map_filters grid_map_loader grid_map_msgs grid_map_octomap grid_map_pcl grid_map_ros grid_map_rviz_plugin grid_map_sdf grid_map_visualization mrt_cmake_modules nav2_amcl nav2_behavior_tree nav2_behaviors nav2_bringup nav2_bt_navigator nav2_collision_monitor nav2_common nav2_controller nav2_core nav2_costmap_2d costmap_queue dwb_core dwb_critics dwb_msgs dwb_plugins nav2_dwb_controller nav_2d_msgs nav_2d_utils nav2_lifecycle_manager nav2_map_server nav2_msgs nav2_navfn_planner nav2_planner nav2_regulated_pure_pursuit_controller nav2_rotation_shim_controller nav2_rviz_plugins nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util nav2_velocity_smoother nav2_voxel_grid nav2_waypoint_follower navigation2 dynamic_edt_3d octomap octovis octomap_msgs osqp_vendor pacmod3_msgs pcl_msgs pcl_conversions pcl_ros perception_pcl point_cloud_msg_wrapper radar_msgs can_msgs rqt_tf_tree tensorrt_cmake_module topic_tools topic_tools_interfaces tvm_vendor cv_bridge image_geometry opencv_tests vision_opencv xacro rviz2 rviz_assimp_vendor rviz_common rviz_default_plugins rviz_ogre_vendor rviz_rendering rviz_rendering_tests rviz_visual_testing_framework dummy_perception_publisher fault_injection simple_planning_simulator image_view v4l2_camera aion_interface carla_vehicle_can cgi430_can_driver cgi610_driver ARS408_driver custom_control_container custom_planning_container custom_pointcloud_container common_sensor_launch kunyi_sensor_kit_description kunyi_sensor_kit_launch classformsg node_v2x data_format_dump data_preprocess_launch lidar_centerpoint_collect lidar_saver message_sync time_cal camera_calibration direct_visual_lidar_calibration node_state_monitor multi_lidar_calibration

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Package Summary

Version 0.1.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/ieiauto/autodrrt.git
VCS Type git
VCS Version main
Last Updated 2026-01-05
Dev Status UNKNOWN
Released UNRELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

The tier4_perception_launch package

Maintainers

  • Yukihiro Saito
  • Shunsuke Miura
  • Yoshi Ri

Authors

No additional authors.
src/autodrrt.core/launch/tier4_perception_launch/README.md

tier4_perception_launch

Structure

tier4_perception_launch

Package Dependencies

Please see <exec_depend> in package.xml.

Usage

You can include as follows in *.launch.xml to use perception.launch.xml.

Note that you should provide parameter paths as PACKAGE_param_path. The list of parameter paths you should provide is written at the top of perception.launch.xml.

  <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
    <!-- options for mode: camera_lidar_fusion, lidar, camera -->
    <arg name="mode" value="lidar" />

    <!-- Parameter files -->
    <arg name="FOO_param_path" value="..."/>
    <arg name="BAR_param_path" value="..."/>
    ...
  </include>
CHANGELOG
No CHANGELOG found.

Launch files

  • launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_roi_based_cluster [default: false]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
  • launch/object_recognition/detection/camera_lidar_radar_fusion_based_detection.launch.xml
      • output/objects [default: objects]
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • container_name [default: pointcloud_container]
      • lidar_detection_model [default: centerpoint]
      • lidar_detection_score_threshold [default: 0.35]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • use_validator [default: true]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /image_raw1]
      • camera_info1 [default: /camera_info1]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /image_raw2]
      • camera_info2 [default: /camera_info2]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /image_raw3]
      • camera_info3 [default: /camera_info3]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /image_raw4]
      • camera_info4 [default: /camera_info4]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /image_raw5]
      • camera_info5 [default: /camera_info5]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /image_raw6]
      • camera_info6 [default: /camera_info6]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /image_raw7]
      • camera_info7 [default: /camera_info7]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • use_near_radar_fusion [default: false]
      • far_object_merger_sync_queue_size [default: 20]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/detection.launch.xml
      • mode [default: lidar]
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • image_raw0 [default: /image_raw]
      • camera_info0 [default: /camera_info]
      • image_raw1 [default: ]
      • camera_info1 [default: ]
      • image_raw2 [default: ]
      • camera_info2 [default: ]
      • image_raw3 [default: ]
      • camera_info3 [default: ]
      • image_raw4 [default: ]
      • camera_info4 [default: ]
      • image_raw5 [default: ]
      • camera_info5 [default: ]
      • image_raw6 [default: ]
      • camera_info6 [default: ]
      • image_raw7 [default: ]
      • camera_info7 [default: ]
      • image_number [default: 1]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
  • launch/object_recognition/detection/lidar_based_detection.launch.xml
      • input/pointcloud
      • input/obstacle_segmentation/pointcloud [default: /perception/obstacle_segmentation/pointcloud]
      • output/objects [default: objects]
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • use_validator [default: true]
      • lidar_detection_score_threshold [default: 0.35]
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • lidar_model_param_path [default: $(find-pkg-share lidar_centerpoint)/config]
      • objects_validation_method [default: obstacle_pointcloud]
      • objects_filter_method [default: lanelet_filter]
      • object_recognition_detection_object_merger_data_association_matrix_param_path [default: $(find-pkg-share object_merger)/config/data_association_matrix.param.yaml]
      • object_recognition_detection_object_merger_distance_threshold_list_path [default: $(find-pkg-share object_merger)/config/overlapped_judge.param.yaml]
  • launch/object_recognition/detection/lidar_radar_based_detection.launch.xml
      • input/pointcloud
      • lidar_detection_model [default: centerpoint]
      • use_object_filter [default: true]
      • use_pointcloud_container [default: false]
      • container_name [default: pointcloud_container]
      • lidar_detection_score_threshold [default: 0.35]
      • input/radar [default: /sensing/radar/detected_objects]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/detection/radar_based_detection.launch.xml
      • input/radar [default: /sensing/radar/detected_objects]
      • output/objects [default: far_objects]
      • filter/angle_threshold [default: 1.221]
      • filter/velocity_threshold [default: 1.5]
      • split/velocity_threshold [default: 5.5]
      • split_range [default: 80.0]
      • radar_lanelet_filtering_range_param [default: $(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml]
      • radar_object_clustering_param_path [default: $(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml]
  • launch/object_recognition/prediction/prediction.launch.xml
      • use_vector_map [default: false]
      • input/objects [default: /perception/object_recognition/tracking/objects]
  • launch/object_recognition/tracking/tracking.launch.xml
      • mode [default: lidar]
      • use_radar_tracking_fusion [default: false]
      • radar_tracker_input [default: /perception/object_recognition/detection/radar/far_objects]
      • radar_tracker_output [default: /perception/object_recognition/tracking/radar/far_objects]
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • object_recognition_tracking_radar_object_tracker_node_param_path
      • object_recognition_tracking_object_merger_data_association_matrix_param_path
      • object_recognition_tracking_object_merger_node_param_path
  • launch/occupancy_grid_map/probabilistic_occupancy_grid_map.launch.xml
      • input/obstacle_pointcloud [default: concatenated/pointcloud]
      • input/raw_pointcloud [default: no_ground/oneshot/pointcloud]
      • output [default: /perception/occupancy_grid_map/map]
      • use_intra_process [default: false]
      • use_multithread [default: false]
      • use_pointcloud_container [default: false]
      • container_name [default: occupancy_grid_map_container]
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • input_obstacle_pointcloud [default: false]
      • input_obstacle_and_raw_pointcloud [default: true]
  • launch/perception.launch.xml
      • object_recognition_detection_euclidean_cluster_param_path
      • object_recognition_detection_outlier_param_path
      • object_recognition_detection_object_lanelet_filter_param_path
      • object_recognition_detection_object_position_filter_param_path
      • object_recognition_detection_pointcloud_map_filter_param_path
      • object_recognition_prediction_map_based_prediction_param_path
      • object_recognition_detection_object_merger_data_association_matrix_param_path
      • object_recognition_detection_object_merger_distance_threshold_list_path
      • object_recognition_detection_fusion_sync_param_path
      • object_recognition_detection_lidar_model_param_path
      • object_recognition_detection_radar_lanelet_filtering_range_param
      • object_recognition_detection_radar_object_clustering_param_path
      • object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_multi_object_tracker_node_param_path
      • object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path
      • object_recognition_tracking_radar_object_tracker_tracking_setting_param_path
      • obstacle_segmentation_ground_segmentation_param_path
      • obstacle_segmentation_ground_segmentation_elevation_map_param_path
      • object_recognition_detection_obstacle_pointcloud_based_validator_param_path
      • object_recognition_detection_detection_by_tracker_param
      • occupancy_grid_map_method
      • occupancy_grid_map_param_path
      • occupancy_grid_map_updater
      • occupancy_grid_map_updater_param_path
      • traffic_light_arbiter_param_path
      • centerpoint_model_name [default: centerpoint_tiny]
      • centerpoint_model_path [default: $(var data_path)/lidar_centerpoint]
      • input/pointcloud [default: /sensing/lidar/concatenated/pointcloud]
      • mode [default: camera_lidar_fusion]
      • data_path [default: $(env HOME)/autoware_data]
      • lidar_detection_model [default: centerpoint]
      • image_raw0 [default: /sensing/camera/camera0/image_rect_color]
      • camera_info0 [default: /sensing/camera/camera0/camera_info]
      • detection_rois0 [default: /perception/object_recognition/detection/rois0]
      • image_raw1 [default: /sensing/camera/camera1/image_rect_color]
      • camera_info1 [default: /sensing/camera/camera1/camera_info]
      • detection_rois1 [default: /perception/object_recognition/detection/rois1]
      • image_raw2 [default: /sensing/camera/camera2/image_rect_color]
      • camera_info2 [default: /sensing/camera/camera2/camera_info]
      • detection_rois2 [default: /perception/object_recognition/detection/rois2]
      • image_raw3 [default: /sensing/camera/camera3/image_rect_color]
      • camera_info3 [default: /sensing/camera/camera3/camera_info]
      • detection_rois3 [default: /perception/object_recognition/detection/rois3]
      • image_raw4 [default: /sensing/camera/camera4/image_rect_color]
      • camera_info4 [default: /sensing/camera/camera4/camera_info]
      • detection_rois4 [default: /perception/object_recognition/detection/rois4]
      • image_raw5 [default: /sensing/camera/camera5/image_rect_color]
      • camera_info5 [default: /sensing/camera/camera5/camera_info]
      • detection_rois5 [default: /perception/object_recognition/detection/rois5]
      • image_raw6 [default: /sensing/camera/camera6/image_rect_color]
      • camera_info6 [default: /sensing/camera/camera6/camera_info]
      • detection_rois6 [default: /perception/object_recognition/detection/rois6]
      • image_raw7 [default: /sensing/camera/camera7/image_rect_color]
      • camera_info7 [default: /sensing/camera/camera7/camera_info]
      • detection_rois7 [default: /perception/object_recognition/detection/rois7]
      • image_number [default: 6]
      • use_vector_map [default: true]
      • use_pointcloud_map [default: true]
      • use_low_height_cropbox [default: true]
      • use_object_filter [default: true]
      • use_roi_based_cluster [default: true]
      • use_empty_dynamic_object_publisher [default: false]
      • use_pointcloud_container [default: false]
      • pointcloud_container_name [default: pointcloud_container]
      • objects_filter_method [default: lanelet_filter]
      • objects_validation_method [default: obstacle_pointcloud]
      • use_traffic_light_recognition [default: true]
      • traffic_light_recognition/enable_fine_detection [default: true]
      • traffic_light_recognition/fusion_only [default: false]
      • traffic_light_image_number [default: 1]
      • traffic_light_fine_detector_model_path [default: $(var data_path)/traffic_light_fine_detector]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(var data_path)/traffic_light_classifier]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6]
      • remove_unknown [default: true]
      • fusion_distance [default: 100.0]
      • trust_object_distance [default: 100.0]
      • use_detection_by_tracker [default: true]
      • use_radar_tracking_fusion [default: true]
  • launch/traffic_light_recognition/traffic_light.launch.xml
      • enable_image_decompressor [default: true]
      • enable_fine_detection [default: true]
      • fusion_only [default: false]
      • traffic_light_fine_detector_model_path [default: $(find-pkg-share traffic_light_fine_detector)/data]
      • traffic_light_fine_detector_label_name [default: tlr_labels.txt]
      • traffic_light_fine_detector_model_name [default: tlr_yolox_s_batch_6]
      • traffic_light_classifier_model_path [default: $(find-pkg-share traffic_light_classifier)/data]
      • traffic_light_classifier_label_name [default: lamp_labels.txt]
      • traffic_light_classifier_model_name [default: traffic_light_classifier_mobilenetv2_batch_6.onnx]
      • input/cloud [default: /sensing/lidar/top/pointcloud_raw]
      • internal/traffic_signals [default: /perception/traffic_light_recognition/internal/traffic_signals]
      • fusion/traffic_signals [default: /perception/traffic_light_recognition/fusion/traffic_signals]
      • external/traffic_signals [default: /perception/traffic_light_recognition/external/traffic_signals]
      • output/traffic_signals [default: /perception/traffic_light_recognition/traffic_signals]
      • use_crosswalk_traffic_light_estimator [default: true]
      • crosswalk_traffic_light_estimator_param_file [default: $(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml]
      • image_number [default: 1]
      • namespace1 [default: camera6]
      • namespace2 [default: camera7]
      • fine_detector_label_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_label_name)]
      • fine_detector_model_path [default: $(var traffic_light_fine_detector_model_path)/$(var traffic_light_fine_detector_model_name).onnx]
      • classifier_label_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_label_name)]
      • classifier_model_path [default: $(var traffic_light_classifier_model_path)/$(var traffic_light_classifier_model_name).onnx]

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