Combine dummy pedestrians and real detections

[marioney]

Dear all,

I want to create a test scenario where real detections are combined with simulated ones (dummy pedestrians).

To achieve this, I'm launching the autoware.launch.xml As normal to control the vehicle with its sensors and control. Then I'm launching

ros2 launch dummy_perception_publisher dummy_perception_publisher.launch.xml

To be able to add dummy pedestrians using the Rviz interface.

However, when I launch this, the "real" detections stop working and I can only get the dummy elements. Also, if I stop the dummy_perception_publisher launch, I get back the real detections.

Is there a way to get both of them at the same time?

[JasonLu-turing]

I think it's because the output topics for the real sensor detection and the dummy detection are both named /perception/object_recognition/detection/objects, so they can't be used at the same time. Therefore, you may need to merge these two outputs into a single output to meet your requirement.