feat: fix launch for 9 input

Signed-off-by: yoshiri <[email protected]>
tier4 · Dec 12, 2024 · 35ecc4b · 35ecc4b
1 parent 4f5de30
commit 35ecc4b
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Showing 3 changed files with 18 additions and 0 deletions.
diff --git a/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_cluster_fusion.launch.xml
@@ -16,6 +16,8 @@
   <arg name="input/camera_info6" default="/camera_info6"/>
   <arg name="input/rois7" default="rois7"/>
   <arg name="input/camera_info7" default="/camera_info7"/>
+  <arg name="input/rois8" default="rois8"/>
+  <arg name="input/camera_info8" default="/camera_info8"/>
   <arg name="input/clusters" default="clusters"/>
   <arg name="output/clusters" default="labeled_clusters"/>
   <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_cluster_fusion.param.yaml"/>
@@ -30,6 +32,7 @@
   <arg name="input/image5" default="/image_raw5"/>
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
+  <arg name="input/image8" default="/image_raw8"/>
   <group>
     <node pkg="image_projection_based_fusion" exec="roi_cluster_fusion_node" name="roi_cluster_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
@@ -63,6 +66,9 @@
       <param name="input/rois7" value="$(var input/rois7)"/>
       <param name="input/camera_info7" value="$(var input/camera_info7)"/>
       <param name="input/image7" value="$(var input/image7)"/>
+      <param name="input/rois8" value="$(var input/rois8)"/>
+      <param name="input/camera_info8" value="$(var input/camera_info8)"/>
+      <param name="input/image8" value="$(var input/image8)"/>
     </node>
   </group>
 </launch>
diff --git a/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_detected_object_fusion.launch.xml
@@ -16,6 +16,8 @@
   <arg name="input/camera_info6" default="/camera_info6"/>
   <arg name="input/rois7" default="rois7"/>
   <arg name="input/camera_info7" default="/camera_info7"/>
+  <arg name="input/rois8" default="rois8"/>
+  <arg name="input/camera_info8" default="/camera_info8"/>
   <arg name="input/objects" default="objects"/>
   <arg name="output/objects" default="fused_objects"/>
   <arg name="param_path" default="$(find-pkg-share image_projection_based_fusion)/config/roi_detected_object_fusion.param.yaml"/>
@@ -33,6 +35,7 @@
   <arg name="input/image5" default="/image_raw5"/>
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
+  <arg name="input/image8" default="/image_raw8"/>
 
   <group>
     <node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
@@ -67,6 +70,9 @@
       <param name="input/rois7" value="$(var input/rois7)"/>
       <param name="input/camera_info7" value="$(var input/camera_info7)"/>
       <param name="input/image7" value="$(var input/image7)"/>
+      <param name="input/rois8" value="$(var input/rois8)"/>
+      <param name="input/camera_info8" value="$(var input/camera_info8)"/>
+      <param name="input/image8" value="$(var input/image8)"/>
     </node>
   </group>
 </launch>
diff --git a/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml b/perception/image_projection_based_fusion/launch/roi_pointcloud_fusion.launch.xml
@@ -16,6 +16,8 @@
   <arg name="input/camera_info6" default="/camera_info6"/>
   <arg name="input/rois7" default="rois7"/>
   <arg name="input/camera_info7" default="/camera_info7"/>
+  <arg name="input/rois8" default="rois8"/>
+  <arg name="input/camera_info8" default="/camera_info8"/>
   <arg name="input/pointcloud" default="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
   <arg name="output/pointcloud" default="roi_pointcloud_fusion/output/pointcloud"/>
   <arg name="output_clusters" default="output_clusters"/>
@@ -33,6 +35,7 @@
   <arg name="input/image5" default="/image_raw5"/>
   <arg name="input/image6" default="/image_raw6"/>
   <arg name="input/image7" default="/image_raw7"/>
+  <arg name="input/image8" default="/image_raw8"/>
   <group>
     <node pkg="image_projection_based_fusion" exec="roi_pointcloud_fusion_node" name="roi_pointcloud_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
@@ -68,6 +71,9 @@
       <param name="input/rois7" value="$(var input/rois7)"/>
       <param name="input/camera_info7" value="$(var input/camera_info7)"/>
       <param name="input/image7" value="$(var input/image7)"/>
+      <param name="input/rois8" value="$(var input/rois8)"/>
+      <param name="input/camera_info8" value="$(var input/camera_info8)"/>
+      <param name="input/image8" value="$(var input/image8)"/>
     </node>
   </group>
 </launch>