fix: avoid same name nodes in detection module (#405)

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
autowarefoundation · Jul 11, 2022 · c312397 · c312397
1 parent e611e61
commit c312397
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diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -64,11 +64,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="clusters"/>
       <arg name="output/objects" value="objects_with_feature"/>
+      <arg name="node_name" value="shape_estimation_clustering" />
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="objects_with_feature"/>
       <arg name="output" value="objects"/>
+      <arg name="node_name" value="detected_object_feature_remover_clustering" />
     </include>
     <!-- Fusion camera-lidar to classify -->
     <include file="$(find-pkg-share image_projection_based_fusion)/launch/roi_cluster_fusion.launch.xml">
@@ -103,11 +105,13 @@
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
       <arg name="input/objects" value="camera_lidar_fusion/clusters"/>
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature"/>
+      <arg name="node_name" value="shape_estimation_camera_lidar_fusion" />
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
       <arg name="input" value="camera_lidar_fusion/objects_with_feature"/>
       <arg name="output" value="camera_lidar_fusion/objects"/>
+      <arg name="node_name" value="detected_object_feature_camera_lidar_fusion" />
     </include>
     <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
       <arg name="input/object" value="camera_lidar_fusion/objects"/>
@@ -169,16 +173,19 @@
     <arg name="input/object0" value="$(var merger/input/objects)"/>
     <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
+    <arg name="node_name" value="object_association_merger_camera_lidar_fusion" />
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="detection_by_tracker/objects"/>
     <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="temporary_merged_objects"/>
+    <arg name="node_name" value="object_association_merger_detection_by_tracker" />
   </include>
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="temporary_merged_objects"/>
     <arg name="input/object1" value="clustering/objects"/>
     <arg name="output/object" value="objects_before_filter"/>
+    <arg name="node_name" value="object_association_merger_unknown_clustering" />
   </include>
 
   <!-- Filter -->

diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -97,11 +97,13 @@
       <arg name="input/object0" value="$(var merger/input/objects)"/>
       <arg name="input/object1" value="clustering/objects"/>
       <arg name="output/object" value="temporary_merged_objects"/>
+      <arg name="node_name" value="object_association_merger_unknown_clustering" />
     </include>
     <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
       <arg name="input/object0" value="temporary_merged_objects"/>
       <arg name="input/object1" value="detection_by_tracker/objects"/>
       <arg name="output/object" value="objects_before_filter"/>
+      <arg name="node_name" value="object_association_merger_detection_by_tracker" />
     </include>
   </group>