diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index 0dc333deef831..15aaec6fd110a 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -132,10 +132,10 @@ perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi perception/autoware_lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +perception/autoware_radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp perception/autoware_raindrop_cluster_filter/** dai.nguyen@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_shape_estimation/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp +perception/autoware_simple_object_merger/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_tensorrt_classifier/** kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp perception/tensorrt_yolox/** dan.umeda@tier4.jp manato.hirabayashi@tier4.jp perception/traffic_light_arbiter/** kenzo.lobos@tier4.jp shunsuke.miura@tier4.jp @@ -210,7 +210,7 @@ sensing/autoware_pointcloud_preprocessor/** abrahammonrroy@yahoo.com dai.nguyen@ sensing/autoware_radar_scan_to_pointcloud2/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_static_pointcloud_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/autoware_radar_threshold_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp -sensing/radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp +sensing/autoware_radar_tracks_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp sensing/tier4_pcl_extensions/** david.wong@tier4.jp kenzo.lobos@tier4.jp ryu.yamamoto@tier4.jp sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp diff --git a/perception/autoware_radar_crossing_objects_noise_filter/README.md b/perception/autoware_radar_crossing_objects_noise_filter/README.md index 846da0a0c11d1..553d932717442 100644 --- a/perception/autoware_radar_crossing_objects_noise_filter/README.md +++ b/perception/autoware_radar_crossing_objects_noise_filter/README.md @@ -24,7 +24,7 @@ Velocity estimation fails on static objects, resulting in ghost objects crossing - 2. Turning around by ego vehicle affect the output from radar. -When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/radar_tracks_msgs_converter) compensates by the ego vehicle twist. +When the ego vehicle turns around, the radars outputting at the object level sometimes fail to estimate the twist of objects correctly even if [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) compensates by the ego vehicle twist. So if an object detected by radars has circular motion viewing from base_link, it is likely that the speed is estimated incorrectly and that the object is a static object. The example is below figure. diff --git a/perception/autoware_radar_object_clustering/README.md b/perception/autoware_radar_object_clustering/README.md index bb792185299ab..0e66208d9f84e 100644 --- a/perception/autoware_radar_object_clustering/README.md +++ b/perception/autoware_radar_object_clustering/README.md @@ -2,7 +2,7 @@ This package contains a radar object clustering for [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_perception_msgs/msg/DetectedObject.idl) input. -This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/radar_tracks_msgs_converter) and is processed by noise filter. +This package can make clustered objects from radar DetectedObjects, the objects which is converted from RadarTracks by [radar_tracks_msgs_converter](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/autoware_radar_tracks_msgs_converter) and is processed by noise filter. In other word, this package can combine multiple radar detections from one object into one and adjust class and size. ![radar_clustering](docs/radar_clustering.drawio.svg) diff --git a/perception/radar_tracks_msgs_converter/CMakeLists.txt b/perception/autoware_radar_tracks_msgs_converter/CMakeLists.txt similarity index 93% rename from perception/radar_tracks_msgs_converter/CMakeLists.txt rename to perception/autoware_radar_tracks_msgs_converter/CMakeLists.txt index 4ff3be1fa45a4..4a0e545c1c016 100644 --- a/perception/radar_tracks_msgs_converter/CMakeLists.txt +++ b/perception/autoware_radar_tracks_msgs_converter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(radar_tracks_msgs_converter) +project(autoware_radar_tracks_msgs_converter) find_package(autoware_cmake REQUIRED) autoware_package() diff --git a/perception/radar_tracks_msgs_converter/README.md b/perception/autoware_radar_tracks_msgs_converter/README.md similarity index 100% rename from perception/radar_tracks_msgs_converter/README.md rename to perception/autoware_radar_tracks_msgs_converter/README.md diff --git a/perception/radar_tracks_msgs_converter/config/radar_tracks_msgs_converter.param.yaml b/perception/autoware_radar_tracks_msgs_converter/config/radar_tracks_msgs_converter.param.yaml similarity index 100% rename from perception/radar_tracks_msgs_converter/config/radar_tracks_msgs_converter.param.yaml rename to perception/autoware_radar_tracks_msgs_converter/config/radar_tracks_msgs_converter.param.yaml diff --git a/perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml b/perception/autoware_radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml similarity index 71% rename from perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml rename to perception/autoware_radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml index 1aa4d51703b0c..d325778a21dbd 100644 --- a/perception/radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml +++ b/perception/autoware_radar_tracks_msgs_converter/launch/radar_tracks_msgs_converter.launch.xml @@ -3,9 +3,9 @@ - + - + diff --git a/perception/radar_tracks_msgs_converter/package.xml b/perception/autoware_radar_tracks_msgs_converter/package.xml similarity index 90% rename from perception/radar_tracks_msgs_converter/package.xml rename to perception/autoware_radar_tracks_msgs_converter/package.xml index 534c9a20fa0df..cb50b950a9240 100644 --- a/perception/radar_tracks_msgs_converter/package.xml +++ b/perception/autoware_radar_tracks_msgs_converter/package.xml @@ -1,9 +1,9 @@ - radar_tracks_msgs_converter + autoware_radar_tracks_msgs_converter 0.0.1 - radar_tracks_msgs_converter + autoware_radar_tracks_msgs_converter Satoshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json b/perception/autoware_radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json similarity index 100% rename from perception/radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json rename to perception/autoware_radar_tracks_msgs_converter/schema/radar_tracks_msgs_converter.schema.json diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.cpp b/perception/autoware_radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.cpp similarity index 100% rename from perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.cpp rename to perception/autoware_radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.cpp diff --git a/perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.hpp b/perception/autoware_radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.hpp similarity index 100% rename from perception/radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.hpp rename to perception/autoware_radar_tracks_msgs_converter/src/radar_tracks_msgs_converter_node.hpp diff --git a/perception/simple_object_merger/CMakeLists.txt b/perception/autoware_simple_object_merger/CMakeLists.txt similarity index 94% rename from perception/simple_object_merger/CMakeLists.txt rename to perception/autoware_simple_object_merger/CMakeLists.txt index 1a65bdf96050e..3a638d708d8a8 100644 --- a/perception/simple_object_merger/CMakeLists.txt +++ b/perception/autoware_simple_object_merger/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(simple_object_merger) +project(autoware_simple_object_merger) # Dependencies find_package(autoware_cmake REQUIRED) diff --git a/perception/simple_object_merger/README.md b/perception/autoware_simple_object_merger/README.md similarity index 92% rename from perception/simple_object_merger/README.md rename to perception/autoware_simple_object_merger/README.md index f69b31f70969e..a1e142b2bd85c 100644 --- a/perception/simple_object_merger/README.md +++ b/perception/autoware_simple_object_merger/README.md @@ -1,4 +1,4 @@ -# simple_object_merger +# autoware_simple_object_merger This package can merge multiple topics of [autoware_perception_msgs/msg/DetectedObject](https://github.com/autowarefoundation/autoware_msgs/tree/main/autoware_perception_msgs/msg/DetectedObject.msg) with low calculation cost. @@ -8,14 +8,14 @@ This package can merge multiple topics of [autoware_perception_msgs/msg/Detected [Object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger) is mainly used for merge process with DetectedObjects. There are 2 characteristics in `Object_merger`. First, `object_merger` solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, `object_merger` can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 `object_merger` nodes need to stand for now. -Therefore, `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. +Therefore, `autoware_simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes. ### Use case - Multiple radar detection -`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler. +`autoware_simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler. ### Limitation diff --git a/perception/simple_object_merger/config/simple_object_merger.param.yaml b/perception/autoware_simple_object_merger/config/simple_object_merger.param.yaml similarity index 100% rename from perception/simple_object_merger/config/simple_object_merger.param.yaml rename to perception/autoware_simple_object_merger/config/simple_object_merger.param.yaml diff --git a/perception/autoware_simple_object_merger/launch/simple_object_merger.launch.xml b/perception/autoware_simple_object_merger/launch/simple_object_merger.launch.xml new file mode 100644 index 0000000000000..1c4d0e7583139 --- /dev/null +++ b/perception/autoware_simple_object_merger/launch/simple_object_merger.launch.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/perception/simple_object_merger/package.xml b/perception/autoware_simple_object_merger/package.xml similarity index 89% rename from perception/simple_object_merger/package.xml rename to perception/autoware_simple_object_merger/package.xml index 487155bffd102..cc9491d423a6f 100644 --- a/perception/simple_object_merger/package.xml +++ b/perception/autoware_simple_object_merger/package.xml @@ -1,8 +1,8 @@ - simple_object_merger + autoware_simple_object_merger 0.1.0 - simple_object_merger + autoware_simple_object_merger Sathshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/perception/simple_object_merger/src/simple_object_merger_node.cpp b/perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp similarity index 100% rename from perception/simple_object_merger/src/simple_object_merger_node.cpp rename to perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp diff --git a/perception/simple_object_merger/src/simple_object_merger_node.hpp b/perception/autoware_simple_object_merger/src/simple_object_merger_node.hpp similarity index 100% rename from perception/simple_object_merger/src/simple_object_merger_node.hpp rename to perception/autoware_simple_object_merger/src/simple_object_merger_node.hpp diff --git a/perception/simple_object_merger/launch/simple_object_merger.launch.xml b/perception/simple_object_merger/launch/simple_object_merger.launch.xml deleted file mode 100644 index 43e22ea081feb..0000000000000 --- a/perception/simple_object_merger/launch/simple_object_merger.launch.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/sensing/radar_tracks_noise_filter/CMakeLists.txt b/sensing/autoware_radar_tracks_noise_filter/CMakeLists.txt similarity index 95% rename from sensing/radar_tracks_noise_filter/CMakeLists.txt rename to sensing/autoware_radar_tracks_noise_filter/CMakeLists.txt index 436c3472c8734..3cdf69f6b3a85 100644 --- a/sensing/radar_tracks_noise_filter/CMakeLists.txt +++ b/sensing/autoware_radar_tracks_noise_filter/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(radar_tracks_noise_filter) +project(autoware_radar_tracks_noise_filter) # Dependencies find_package(autoware_cmake REQUIRED) diff --git a/sensing/radar_tracks_noise_filter/README.md b/sensing/autoware_radar_tracks_noise_filter/README.md similarity index 97% rename from sensing/radar_tracks_noise_filter/README.md rename to sensing/autoware_radar_tracks_noise_filter/README.md index f1251b4f4ee74..25e8d2f96e7f7 100644 --- a/sensing/radar_tracks_noise_filter/README.md +++ b/sensing/autoware_radar_tracks_noise_filter/README.md @@ -1,4 +1,4 @@ -# radar_tracks_noise_filter +# autoware_radar_tracks_noise_filter This package contains a radar object filter module for `radar_msgs/msg/RadarTrack`. This package can filter noise objects in RadarTracks. diff --git a/sensing/radar_tracks_noise_filter/config/radar_tracks_noise_filter.param.yaml b/sensing/autoware_radar_tracks_noise_filter/config/radar_tracks_noise_filter.param.yaml similarity index 100% rename from sensing/radar_tracks_noise_filter/config/radar_tracks_noise_filter.param.yaml rename to sensing/autoware_radar_tracks_noise_filter/config/radar_tracks_noise_filter.param.yaml diff --git a/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml b/sensing/autoware_radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml similarity index 63% rename from sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml rename to sensing/autoware_radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml index f980bcebf1b6b..60dbbe8952249 100644 --- a/sensing/radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml +++ b/sensing/autoware_radar_tracks_noise_filter/launch/radar_tracks_noise_filter.launch.xml @@ -2,9 +2,9 @@ - + - + diff --git a/sensing/radar_tracks_noise_filter/package.xml b/sensing/autoware_radar_tracks_noise_filter/package.xml similarity index 89% rename from sensing/radar_tracks_noise_filter/package.xml rename to sensing/autoware_radar_tracks_noise_filter/package.xml index 8420b7a174edf..8c69eeed6757b 100644 --- a/sensing/radar_tracks_noise_filter/package.xml +++ b/sensing/autoware_radar_tracks_noise_filter/package.xml @@ -1,9 +1,9 @@ - radar_tracks_noise_filter + autoware_radar_tracks_noise_filter 0.1.0 - radar_tracks_noise_filter + autoware_radar_tracks_noise_filter Sathshi Tanaka Shunsuke Miura Yoshi Ri diff --git a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp b/sensing/autoware_radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp similarity index 100% rename from sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp rename to sensing/autoware_radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.cpp diff --git a/sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp b/sensing/autoware_radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp similarity index 100% rename from sensing/radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp rename to sensing/autoware_radar_tracks_noise_filter/src/radar_tracks_noise_filter_node.hpp diff --git a/sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp b/sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp similarity index 100% rename from sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp rename to sensing/autoware_radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp diff --git a/sensing/radar_tracks_noise_filter/test/test_radar_tracks_noise_filter.cpp b/sensing/autoware_radar_tracks_noise_filter/test/test_radar_tracks_noise_filter.cpp similarity index 100% rename from sensing/radar_tracks_noise_filter/test/test_radar_tracks_noise_filter.cpp rename to sensing/autoware_radar_tracks_noise_filter/test/test_radar_tracks_noise_filter.cpp