This code change the output of the range_vision_fusion, original code outputs the detected results of the LIDAR or YOLO, depending on which one is empty. The original code returns the non-empty results.
This code, howwever, output the results if both LIDAR and YOLO results are non-empty.
In the second terminal,
cd Autoware/src/autoware/core_perception/range_vision_fusion/src/
There is a range_vision_fusion.cpp. Replace it with the code either in range_vision_fusion_v1.cpp or range_vision_fusion_v2.cpp in this repository.
range_vision_fusion_v1.cpp fuses the camera detection AND the Lidar detection
range_vision_fusion_v2.cpp fuses the camera detection OR the Lidar detection
Go to Autoware
cd ~/Autoware
Rebuild the package by running
colcon build --packages-select range_vision_fusion
Run regular carla-autoware.