Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(ndt_scan_matcher): detect loss PCD #6735

Closed
wants to merge 31 commits into from
Closed

feat(ndt_scan_matcher): detect loss PCD #6735

wants to merge 31 commits into from

Conversation

anhnv3991
Copy link
Contributor

@anhnv3991 anhnv3991 commented Apr 3, 2024 •
edited
Loading

Description

In map update module, add a timeout period (currently 10 msec) when wait for pcd loader client. After the timeout period, if there is no response from the client, output a warning message and drop the update.

Tests performed

Not applicable.

Effects on system behavior

None.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@anhnv3991
Initial commit
6a6ac7d 
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
@github-actions github-actions bot added component:localization Vehicle's position determination in its environment. (auto-assigned) component:map Map creation, storage, and loading. (auto-assigned) labels Apr 3, 2024
@anhnv3991
Copy link
Contributor Author

anhnv3991 commented Apr 3, 2024 •
edited
Loading

@Motsu-san @YamatoAndo @SakodaShintaro I made a draft here to discuss the functionalities of this PR. This PR is made for the task "Detect PCD Map not input".
My idea is quite simple: in NDT scan matcher, to detect if there are something wrong with the maps when dynamic loading maps, the following steps are performed in map update module.

  1. On start-up, map_update_module sends a request to the pcd loader client to request the PCD metadata. After that, map_update_module carries a copy of the PCD metadata.
  2. When dynamic load maps, map_update_module sends a request to the pcd loader client (as usual). While waiting for the response, map_update_module computes the list of maps to add/remove by itself (similar to the DifferentialMapLoaderModule::differentialAreaLoad). This process should be lightweight, and since it overlaps with the wait for response from the client, it should produces no significant latency at all.
  3. After receiving a response from the pcd loader client, we compare the list of maps to add/remove by map_update_module with the response from the client. From this comparison, we can detect the loss of PCDs.

Could you guys please let me know your thought on this implementation?

anhnv3991 and others added 25 commits April 5, 2024 08:46
@anhnv3991
Keep timeout only
a181ab9 
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
@zulfaqar-azmi-t4 @anhnv3991
docs(lane_change): update documentation (autowarefoundation#6544)
e579421 
* docs(lane_change): update documentation

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* update validity check flow chart

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* explanation for the valid paths

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Add prerequisite in the requirement

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* update diagram

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Edit the parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Explaining lane expansion

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix lane expansion document

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@kosuke55 @anhnv3991
feat(perception_online_evaluator): unify debug markers instead of sep…
59f702f 
…arating for each object (autowarefoundation#6681)

* feat(perception_online_evaluator): unify debug markers instead of separating for each object

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix for

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@kosuke55 @anhnv3991
feat(perception_online_evaluator): extract moving object for deviatio…
d926427 
…n check (autowarefoundation#6682)

fix test

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@danielsanchezaran @anhnv3991
feat(start_planner): add validation check to prevent over cropped pat…
2fd07d1 
…hs (autowarefoundation#6721)

* add validation check to prevent over cropped paths

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* use constexpr for magic number

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* make the threshold a param

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@danielsanchezaran @anhnv3991
feat(obstacle_avoidance_planner): sanitize reference points (autoware…
5f9444d 
…foundation#6704)

* feat(obstacle_avoidance_planner): sanitize reference points

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

* bugfix, first point was excluded

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

---------

Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
@SakodaShintaro @anhnv3991
fix(pose_initializer): added "user_defined_initial_pose" to dummy loc…
3da976c 
…alization (autowarefoundation#6723)

Added "used_defined_initial_pose" to dummy localization

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
@takayuki5168 @anhnv3991
feat(static_centerline_optimizer): static centerline optimizer with G…
faeee27 
…UI (autowarefoundation#6717)

feat: add GUI for static centerline optimizer

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@technolojin @anhnv3991
feat(multi_object_tracker): debug timer to work with reduced replay r…
a8de91f 
…ate recomputation (autowarefoundation#6706)

* fix: mot debug timer, full set of timings

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: reduce timers, rename topics

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: separate debugger

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: fix comments

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: fix stamp initialization, remove unused function

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@technolojin @anhnv3991
fix(object_recognition_utils): check polygon area on iou calculation (a…
ac1cd43 
…utowarefoundation#6701)

* feat(object_recognition_utils): check input polygon on IoU calculations

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* fix: MIN_AREA close to the epsilon of float 1e-6

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>
@beyzanurkaya @anhnv3991
fix(predicted_path_checker): check if trajectory size (autowarefounda…
0bd9a99 
…tion#6730)

check trajectory size

Signed-off-by: beyza <bnk@leodrive.ai>
Co-authored-by: beyza <bnk@leodrive.ai>
@takayuki5168 @anhnv3991
fix(static_centerline_optimizer): fix latlon values of generated LL2 …
faf4abd 
…map (autowarefoundation#6727)

* fix(static_centerline_optimizer): fix lat/lon value of generated LL2 map

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

* fix

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

---------

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@zulfaqar-azmi-t4 @anhnv3991
fix(lane_change): check prepare phase in intersection (autowarefounda…
5d14585 
…tion#6561)

* fix(lane_change): check prepare phase in intersection

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Add new parameter, also create function

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Rename parameters

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix spell check

* fix config file

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* call the function check_prepare_phase only once

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* add parameter description in README

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* minor refactoring

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Doxygen description

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@zulfaqar-azmi-t4 @anhnv3991
fix(lane_change): fix terminal path not working in some case (autowar…
16c4713 
…efoundation#6722)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@kosuke55 @anhnv3991
chore(goal_planner): delete unnecessary comments (autowarefoundation#…
0d0069d 
…6729)

chore(goal_planner): delete comments

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@cyn-liu @pre-commit-ci
@mitsudome-r @anhnv3991
feat(global_parameter_loader): add gtest to global parameter loader (a…
fcf0529 
…utowarefoundation#5021)

* add remote

* feat(global_parameter_loader): add gtest of global-parameter-loader

Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai>

* style(pre-commit): autofix

---------

Signed-off-by: Cynthia Liu <cynthia.liu@autocore.ai>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
@brkay54 @anhnv3991
feat(time_synchronizer_nodelet): set input_offsets zero if it was not…
45f77be 
… defined (autowarefoundation#6664)

Signed-off-by: Berkay Karaman <brkay54@gmail.com>
@oguzkaganozt @pre-commit-ci @anhnv3991
refactor(object_range_splitter): rework parameters (autowarefoundatio…
21c4eb0 
…n#6705)

* rework parameters

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>

* .

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>

* .

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>

* style(pre-commit): autofix

---------

Signed-off-by: oguzkaganozt <oguzkaganozt@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@yuki-takagi-66 @anhnv3991
feat(tier4_autoware_utils, obstacle_cruise): change to read topic by …
951b902 
…polling (autowarefoundation#6702)

change to read topic by polling

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
@kyoichi-sugahara @anhnv3991
docs(perception_online_evaluator): add description about yaw rate eva…
47e7215 
…luation (autowarefoundation#6737)

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
@isamu-takagi @anhnv3991
fix(hazard_status_converter): check current operation mode (autowaref…
c4546e2 
…oundation#6733)

* fix: hazard status converter

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix: topic name and modes

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix check target mode

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* fix message type

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Revert "fix check target mode"

This reverts commit 8b190b7.

---------

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
@zulfaqar-azmi-t4 @anhnv3991
fix(lane_change): limit prepare and lane changing length (autowarefou…
718bd0b 
…ndation#6734)

Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@kosuke55 @anhnv3991
feat(perception_online_evaluator): ignore reversal of orientation fro…
5d0922d 
…m yaw_rate calculation (autowarefoundation#6748)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
@YoshiRi @anhnv3991
feat(obstacle_pointcloud_based_validator_node): skip validation when …
a6b29aa 
…obstacle pointcloud is empty (autowarefoundation#6684)

* feat: skip validation when obstacle pointcloud is empty

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

* fix: remove mistakenly unremoved line

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

---------

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
@zulfaqar-azmi-t4 @anhnv3991
feat(lane_change): check prepare phase in turn direction lanes (autow…
c0f09e1 
…arefoundation#6726)

* feat(lane_change): check prepare phase in turn direction lanes

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Doxygen comment

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* Add config

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

* fix comments by the reviewer

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

---------

Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>
@anhnv3991
Keep timeout only
392a83c 
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:system System design and integration. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) component:evaluator Evaluation tools for planning, localization etc. (auto-assigned) and removed component:map Map creation, storage, and loading. (auto-assigned) labels Apr 5, 2024
@github-actions github-actions bot removed type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) component:planning Route planning, decision-making, and navigation. (auto-assigned) component:control Vehicle control algorithms and mechanisms. (auto-assigned) component:system System design and integration. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) component:evaluator Evaluation tools for planning, localization etc. (auto-assigned) labels Apr 5, 2024
@anhnv3991 anhnv3991 closed this Apr 5, 2024
@anhnv3991 anhnv3991 deleted the feature/detect_loss_pcd branch April 5, 2024 02:18
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
component:localization Vehicle's position determination in its environment. (auto-assigned)
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.