Merge pull request #761 from tier4/sync-awf-latest

chore: sync awf-latest

.github/CODEOWNERS-manual

@@ -4,7 +4,7 @@ autoware_launch/** [email protected] [email protected] mfc@leodr
 autoware_launch/config/control/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/localization/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/map/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/config/perception/** [email protected] [email protected] [email protected] [email protected]
+autoware_launch/config/perception/** [email protected] [email protected] [email protected]
 autoware_launch/config/planning/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/simulator/** [email protected] [email protected] [email protected] [email protected]
 autoware_launch/config/system/** [email protected] [email protected]
@@ -13,9 +13,9 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu.
 autoware_launch/launch/components/tier4_control_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_localization_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_map_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_perception_component.launch.xml [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_planning_component.launch.xml [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
-autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected] [email protected]
+autoware_launch/launch/components/tier4_sensing_component.launch.xml [email protected] [email protected]
 autoware_launch/launch/components/tier4_simulator_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/launch/components/tier4_system_component.launch.xml [email protected] [email protected] [email protected] [email protected]
 autoware_launch/rviz/**  # no codeowners

autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml

@@ -1,6 +1,5 @@
 /**:
   ros__parameters:
-    enable_delay_compensation: true
     prediction_time_horizon:
       vehicle: 15.0 #[s]
       pedestrian: 10.0 #[s]

autoware_launch/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    message_lifespan: 0.09
+    approximate_sync: false

autoware_launch/launch/autoware.launch.xml

@@ -45,7 +45,7 @@
   <arg name="rviz_respawn" default="true"/>
   <!-- Perception -->
   <arg name="perception_mode" default="lidar" description="select perception mode. camera_lidar_radar_fusion, camera_lidar_fusion, lidar_radar_fusion, lidar, radar"/>
-  <arg name="traffic_light_recognition/enable_fine_detection" default="true" description="enable traffic light fine detection"/>
+  <arg name="traffic_light_recognition/use_ml_detector" default="true" description="enable traffic light fine detection"/>
   <!-- Auto mode setting-->
   <arg name="enable_all_modules_auto_mode" default="false" description="enable all module's auto mode"/>
   <arg name="is_simulation" default="false" description="Autoware's behavior will change depending on whether this is a simulation or not."/>

autoware_launch/launch/components/tier4_perception_component.launch.xml

@@ -23,6 +23,7 @@
   <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
   <arg name="lidar_detection_model" default="centerpoint" description="If the model name is not declared, the default model in perception.launch.xml will be used"/>
   <arg name="all_traffic_light_camera" default="[camera6, camera7]" description="choose camera which use for traffic light recognition"/>
+  <arg name="traffic_light_recognition/ml_detection_model_type" default="fine_detection_model" description="select ml model for TL detection: fine_detection_model or whole_image_detection_model"/>
 
   <include file="$(find-pkg-share tier4_perception_launch)/launch/perception.launch.xml">
     <!-- Options to Switch Launch Function/Module -->
@@ -53,7 +54,8 @@
     <arg name="data_path" value="$(var data_path)"/>
 
     <arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
-    <arg name="traffic_light_recognition/enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
+    <arg name="traffic_light_recognition/use_ml_detector" value="$(var traffic_light_recognition/use_ml_detector)"/>
+    <arg name="traffic_light_recognition/ml_detection_model_type" value="$(var traffic_light_recognition/ml_detection_model_type)"/>
     <arg name="traffic_light_recognition/fusion_only" value="false"/>
     <arg name="all_traffic_light_camera" value="$(var all_traffic_light_camera)"/>
 
@@ -193,10 +195,16 @@
 
     <!-- traffic light recognition parameters -->
     <arg name="traffic_light_arbiter_param_path" value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml"/>
+    <arg name="traffic_light_recognition/whole_image_detector_model_path" value="$(var data_path)/tensorrt_yolox"/>
+    <arg name="traffic_light_recognition/whole_image_detector_model_name" value="yolox_s_car_ped_tl_detector_960_960_batch_1.onnx"/>
+    <arg
+      name="traffic_light_multi_camera_fusion_param_path"
+      value="$(find-pkg-share autoware_launch)/config/perception/traffic_light_multi_camera_fusion/traffic_light_multi_camera_fusion.param.yaml"
+    />
     <arg name="traffic_light_fine_detector_model_path" value="$(var data_path)/traffic_light_fine_detector"/>
     <arg name="traffic_light_fine_detector_model_name" value="tlr_car_ped_yolox_s_batch_6"/>
     <arg name="traffic_light_classifier_model_path" value="$(var data_path)/traffic_light_classifier"/>
     <arg name="car_traffic_light_classifier_model_name" value="traffic_light_classifier_mobilenetv2_batch_6"/>
-    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_4"/>
+    <arg name="pedestrian_traffic_light_classifier_model_name" value="ped_traffic_light_classifier_mobilenetv2_batch_6"/>
   </include>
 </launch>

autoware_launch/launch/e2e_simulator.launch.xml

@@ -75,7 +75,7 @@
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
       <!-- Perception-->
-      <arg name="traffic_light_recognition/enable_fine_detection" value="false"/>
+      <arg name="traffic_light_recognition/use_ml_detector" value="false"/>
       <arg name="all_traffic_light_camera" value="$(var traffic_light_namespace)"/>
       <!-- Tools -->
       <arg name="rviz" value="$(var rviz)"/>