-
Notifications
You must be signed in to change notification settings - Fork 15
/
uhumans2_khronos.launch
94 lines (79 loc) · 4.84 KB
/
uhumans2_khronos.launch
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
<launch>
<arg name="sim_time_required" default="false"/>
<!-- ============ Arguments ============ -->
<!-- Evaluation -->
<arg name="evaluate" default="true"/>
<arg name="output_dir" default="$(find khronos)/../output/tmp"/>
<arg name="log_vio" default="false"/>
<!-- Mapper: uHumans2.yaml, ground_truth.yaml -->
<arg name="mapper_config" default="uHumans2.yaml"/>
<!-- Semantics: Use openset objects (pre-recorded) -->
<arg name="use_prerecorded_objects" default="false"/>
<arg name="use_oneformer" default="false"/>
<arg name="use_gt_frame" default="true"/>
<!-- Dataset: tesse_cd_office, tesse_cd_apartment -->
<arg name="dataset" default="tesse_cd_office"/>
<arg name="play_rate" default="1"/>
<!-- Input topics -->
<arg name="rgb_topic" default="/tesse/left_cam/rgb/image_raw"/>
<arg name="rgb_info_topic" default="/tesse/left_cam/camera_info"/>
<arg name="depth_topic" default="/tesse/depth_cam/mono/image_raw"/>
<arg name="label_topic" default="/tesse/seg_cam/converted/image_raw"/>
<arg name="label_topic" value="/semantic/image_raw" if="$(arg use_oneformer)"/>
<arg name="label_topic" value="/semantic/image_raw" if="$(arg use_prerecorded_objects)"/>
<arg name="prerecorded_topic" default="/oneformer/labels/image_raw"/>
<!-- Dataset -->
<arg name="bag_path" default="" if="$(eval dataset == 'tesse_cd_office')"/>
<arg name="bag_path" default="" if="$(eval dataset == 'tesse_cd_apartment')"/>
<!-- ============ Auto-generated args ============ -->
<!-- Sensing frame -->
<arg name="sensor_frame" default="$(eval 'left_cam' if arg('use_gt_frame') else 'left_cam_kimera')"/>
<arg name="robot_frame" default="$(eval 'base_link_gt' if arg('use_gt_frame') else 'base_link_kimera')"/>
<arg name="map_frame" default="map"/>
<arg name="odom_frame" default="$(eval 'world' if arg('use_gt_frame') else 'odom')"/>
<!-- Semantics: Use these for ground truth semantic labels from uH2 -->
<arg name="gt_seg_semantic_map" value="$(arg dataset).csv"/>
<arg name="semantic_map_dir" value="$(find khronos_ros)/config/colors" unless="$(arg use_oneformer)"/>
<arg name="semantic_map_file" value="$(arg gt_seg_semantic_map)" unless="$(arg use_oneformer)"/>
<arg name="semantic_map_dir" value="$(find semantic_recolor)/config/colors" if="$(arg use_oneformer)"/>
<arg name="semantic_map_file" value="ade20k_mp3d.csv" if="$(arg use_oneformer)"/>
<arg name="labelspace_config" default="$(arg dataset)_label_space.yaml"/>
<arg name="semantic_label_remap_filepath" default="$(find hydra)/config/label_remaps/$(arg dataset).yaml"/>
<!-- ============ Run ============ -->
<!-- Play data uHumans data -->
<include file="$(find khronos_ros)/launch/datasets/play_uHumans.launch" ns="khronos_node">
<arg name="bag_file" value="$(arg bag_path)"/>
<arg name="semantic_image_topic" value="$(arg label_topic)"/>
<arg name="semantic_color_mapping" value="$(arg semantic_map_dir)/$(arg semantic_map_file)"/>
<arg name="use_gt_frame" value="$(arg use_gt_frame)"/>
<arg name="use_prerecorded_objects" value="$(arg use_prerecorded_objects)"/>
<arg name="play_rate" value="$(arg play_rate)"/>
<arg name="sim_time_required" value="$(arg sim_time_required)"/>
<arg name="use_oneformer" value="$(arg use_oneformer)"/>
<arg name="paused" value="true" unless="$(arg use_gt_frame)"/>
</include>
<group unless="$(arg use_gt_frame)">
<include file="$(find hydra_vio_configs)/launch/uh2_vio.launch" pass_all_args="true">
<arg name="odom_frame_id" default="world"/>
<arg name="map_frame_id" default="map"/>
<arg name="should_use_sim_time" value="$(arg sim_time_required)"/>
<arg name="glog_to_dir" value="true"/>
<arg name="use_lcd" value="true"/>
<arg name="lcd_no_detection" default="false"/>
<!-- clean, noisy -->
<arg name="imu_topic" value="/tesse/imu/noisy/imu"/>
<arg name="log_output_path" value="$(arg output_dir)"/>
<arg name="log_output" value="$(arg log_vio)"/>
</include>
</group>
<include file="$(find khronos_ros)/launch/khronos.launch" pass_all_args="true">
<arg name="robot_id" default="0"/>
<arg name="hydra_config_dir" default="$(arg output_dir)"/>
<arg name="dsg_output_prefix" default="dsg"/>
<arg name="extrinsics" default="$(find hydra)/config/extrinsics/uhumans2.yaml"/>
<arg name="rviz_dir" default="$(find khronos_ros)/config/rviz"/>
<arg name="rviz_file" default="uhumans2.rviz"/>
<arg name="use_oriented_bounding_boxes" default="false"/>
</include>
<node if="$(arg use_gt_frame)" pkg="tf2_ros" type="static_transform_publisher" name="world_static_tf" args="0 0 0 0 0 0 1 map world"/>
</launch>