Unable to launch perception module

[beginningfan]

hello，
I tried to launch the perception module in the latest version of autoware, but it couldn't work. After some troubleshooting, I found that there is something wrong with the "ground_segmentation.launch.py".

#3178 provides a method to launch perception, but if I only want to launch ground_segmentation, it still couldn't start.
Is there a better way to launch perception or ground_segmentation?

[lhakim85]

@beginningfan, much more easier to launch perception module, and you need to include this in your perception script if run standalone
<include file="$(find-pkg-share global_parameter_loader)/launch/global_params.launch.py"> <arg name="use_sim_time" value="false"/> <arg name="vehicle_model" value="sample_vehicle"/> </include>

[beginningfan]

In which file should I add these codes, "tier4_perception_component.launch.xml"? I tried adding in that file. It still takes a very long command to start, but it's much better than before.

[lhakim85]

@beginningfan, you also can edit code in the module to be launched section if want to launch specific module
https://github.com/autowarefoundation/autoware_launch/blob/a8f47625d6267c557ab53c41029ba4c16e9357bd/autoware_launch/launch/autoware.launch.xml#L11
then launch full autoware command like example given

[beginningfan]

I saw this method in #3178, but it's not very well to launch some smaller nodes like ground_segmentation

[lhakim85]

this one maybe related to u #1384, but still u need to edit few line of code to make it work, there is no straigh way if want to run it standalone.

[beginningfan]

It seems there is no better solution