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, however, output the results if YOLO result is non-empty. The code checks if YOLO detection is empty by adding the condition in_vision_detections->objects.empty(), and publish the empty fusion_objects to force an empty costmap
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 in this repository.
Go to Autoware
cd ~/Autoware
Rebuild the package by running
colcon build --packages-select range_vision_fusion
Run regular carla-autoware.