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add launch perception page
Signed-off-by: ismetatabay <[email protected]>
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‎docs/how-to-guides/integrating-autoware/launch-autoware/.pages

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nav:
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- index.md
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- Localization methods: localization-methods
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- Perception mode: perception.md
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- Perception Launch: perception

‎docs/how-to-guides/integrating-autoware/launch-autoware/index.md

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### Perception
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You can define your `autoware_data` path here.
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Autoware gets yabloc_pose_initializer,
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image_projection_based_fusion,
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lidar_apollo_instance_segmentation etc. models file with `autoware_data` path.
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If you use ansible for autoware installation,
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the necessary artifacts will be downloaded at `autoware_data` folder on your `$HOME` directory.
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If you want to download artifacts manually,
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please check ansible [`artifacts`](https://github.com/autowarefoundation/autoware/tree/main/ansible/roles/artifacts) page for information.
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```diff
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- <arg name="data_path" default="$(env HOME)/autoware_data" description="packages data and artifacts directory path"/>
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+ <arg name="data_path" default="<YOUR-AUTOWARE-DATA-PATH>" description="packages data and artifacts directory path"/>
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```
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Also, you can change your perception method here.
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The Autoware provides `camera-lidar-radar fusion`,
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`camera-lidar fusion`, `lidar-radar fusion`, `lidar only` and `radar only` perception modes.

‎docs/how-to-guides/integrating-autoware/launch-autoware/perception.md

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‎docs/how-to-guides/integrating-autoware/launch-autoware/perception/images/perception_launch_flow.svg

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‎docs/how-to-guides/integrating-autoware/launch-autoware/perception/index.md

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# Perception Launch Files
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## Overview
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The Autoware perception stacks start
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launching at `autoware_launch.xml` as we mentioned at [Launch Autoware](../index.md) page.
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The `autoware_launch` package includes `tier4_perception_component.launch.xml`
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for starting perception launch files invocation from `autoware_launch.xml`.
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This diagram describes some of the Autoware perception launch files flow at `autoware_launch` and `autoware.universe` packages.
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<figure markdown>
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![perception-launch-flow](images/perception_launch_flow.svg){ align=center }
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<figcaption>
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Autoware perception launch flow diagram
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</figcaption>
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</figure>
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The Autoware project is large. Therefore, as we manage the Autoware project, we utilize specific
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arguments in the launch files. ROS 2 offers an argument-overriding feature for these launch files.
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Please refer to [the official ROS 2 launch documentation](https://docs.ros.org/en/humble/Tutorials/Intermediate/Launch/Using-ROS2-Launch-For-Large-Projects.html#parameter-overrides) for further information. For instance,
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if we define an argument at the top-level launch, it will override the value on lower-level launches.
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## tier4_perception_component.launch.xml
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The `tier4_perception_component.launch.xml` launch file is the main perception component launch at the `autoware_launch` package.
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This launch file calls `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch) package from `autoware.universe` repository.
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We can modify perception launch arguments at tier4_perception_component.launch.xml.
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Also,
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we can add any other necessary arguments
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that we want
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to change it since `tier4_perception_component.launch.xml` is the top-level launch file of other perception launch files.
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Here are some predefined perception launch arguments:
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- **occupancy_grid_map_method:** This parameter determines the occupancy grid map method for perception stack. Please check [probabilistic_occupancy_grid_map](https://autowarefoundation.github.io/autoware.universe/main/perception/probabilistic_occupancy_grid_map/) package for detailed information.
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The default probabilistic occupancy grid map method is `pointcloud_based_occupancy_grid_map`.
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If you want to change it to the `laserscan_based_occupancy_grid_map`, you can change it here:
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```diff
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- <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
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+ <arg name="occupancy_grid_map_method" default="laserscan_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
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```
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- **detected_objects_filter_method:** This parameter determines the filter method for detected objects.
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Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about lanelet and position filter.
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The default detected object filter method is `lanelet_filter`.
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If you want to change it to the `position_filter`, you can change it here:
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```diff
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- <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
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+ <arg name="detected_objects_filter_method" default="position_filter" description="options: lanelet_filter, position_filter"/>
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```
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- **detected_objects_validation_method:** This parameter determines the validation method for detected objects.
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Please check [detected_object_validation](https://autowarefoundation.github.io/autoware.universe/main/perception/detected_object_validation/) package for detailed information about validation methods.
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The default detected object filter method is `obstacle_pointcloud`.
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If you want to change it to the `occupancy_grid`, you can change it here,
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but remember it requires `laserscan_based_occupancy_grid_map` method as `occupancy_grid_map_method`:
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```diff
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- <arg name="occupancy_grid_map_method" default="pointcloud_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
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+ <arg name="occupancy_grid_map_method" default="laserscan_based_occupancy_grid_map" description="options: pointcloud_based_occupancy_grid_map, laserscan_based_occupancy_grid_map"/>
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<arg
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name="detected_objects_validation_method"
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- default="obstacle_pointcloud"
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+ default="occupancy_grid"
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description="options: obstacle_pointcloud, occupancy_grid (occupancy_grid_map_method must be laserscan_based_occupancy_grid_map)"
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/>
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```
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The predefined `tier4_perception_component.launch.xml` arguments explained above,
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but there is the lot of perception arguments
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included in `perception.launch.xml` at [tier4_perception_launch](https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_perception_launch).
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Since we didn't fork `autoware.universe` repository,
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we can add the necessary launch argument to tier4_perception_component.launch.xml file.
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Please follow the guidelines for some examples.
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## perception.launch.xml
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The `perception.launch.xml` launch file is the main perception launch at the `autoware.universe`.
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This launch file calls necessary perception launch files
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as we mentioned [`Autoware perception launch flow diagram`](#overview) above.
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The top-level launch file of `perception.launch.xml` is `tier4_perception_component.launch.xml`,
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so if we want to change anything on `perception.launch.xml`,
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we will apply these changes `tier4_perception_component.launch.xml` instead of `perception.launch.xml`.
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Here are some example changes for the perception pipeline:
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- **remove_unknown:** This parameter determines the remove unknown objects at camera-lidar fusion.
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Please check [roi_cluster_fusion](https://github.com/autowarefoundation/autoware.universe/blob/main/perception/image_projection_based_fusion/docs/roi-cluster-fusion.md) node for detailed information.
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The default value is `true`.
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If you want to change it to the `false`,
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you can add this argument to `tier4_perception_component.launch.xml`,
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so it will override the `perception.launch.xml`'s `argument`:
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```diff
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- <arg name="detected_objects_filter_method" default="lanelet_filter" description="options: lanelet_filter, position_filter"/>
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+ <arg name="detected_objects_filter_method" default="position_filter" description="options: lanelet_filter, position_filter"/>
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```
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- **camera topics:** If you are using camera-lidar fusion or camera-lidar-radar fusion as a perception_mode,
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you can add your camera and info topics on `tier4_perception_component.launch.xml` as well,
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it will override the `perception.launch.xml` launch file arguments:
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```diff
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+ <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
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+ <arg name="camera_info0" default="/sensing/camera/camera0/camera_info" description="camera info topic name"/>
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+ <arg name="detection_rois0" default="/perception/object_recognition/detection/rois0" description="detection rois output topic name"/>
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...
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```
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You can add every necessary argument
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to `tier4_perception_component.launch.xml` launch file like these examples.

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