From e296156de237f08b28f9bd8106b139bcaa7e9baa Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Wed, 3 Jul 2024 10:22:51 +0900 Subject: [PATCH 01/13] chore: changed the maintainers of common_sensor_launch (#250) Signed-off-by: Kenzo Lobos-Tsunekawa --- common_sensor_launch/package.xml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml index c4b612ff..3b41b61d 100644 --- a/common_sensor_launch/package.xml +++ b/common_sensor_launch/package.xml @@ -5,7 +5,9 @@ 0.1.0 The common_sensor_launch package - Hiroki OTA + David Wong + Kenzo Lobos-Tsunekawa + Max Schmeller Apache License 2.0 ament_cmake_auto From 40322e30a94f6fa2fbb9f09ea5741edb8d44405a Mon Sep 17 00:00:00 2001 From: "Yi-Hsiang Fang (Vivid)" <146902905+vividf@users.noreply.github.com> Date: Wed, 3 Jul 2024 16:43:34 +0900 Subject: [PATCH 02/13] feat(common_sensor_launch): add distortion corrector param (#247) * feat: add distortion corrector param Signed-off-by: vividf * ci(pre-commit): autofix --------- Signed-off-by: vividf Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- ...ics_param_file.yaml => blockage_diagnostics.param.yaml} | 0 .../config/distortion_corrector_node.param.yaml | 5 +++++ .../launch/nebula_node_container.launch.py | 7 ++++++- 3 files changed, 11 insertions(+), 1 deletion(-) rename common_sensor_launch/config/{blockage_diagnostics_param_file.yaml => blockage_diagnostics.param.yaml} (100%) create mode 100644 common_sensor_launch/config/distortion_corrector_node.param.yaml diff --git a/common_sensor_launch/config/blockage_diagnostics_param_file.yaml b/common_sensor_launch/config/blockage_diagnostics.param.yaml similarity index 100% rename from common_sensor_launch/config/blockage_diagnostics_param_file.yaml rename to common_sensor_launch/config/blockage_diagnostics.param.yaml diff --git a/common_sensor_launch/config/distortion_corrector_node.param.yaml b/common_sensor_launch/config/distortion_corrector_node.param.yaml new file mode 100644 index 00000000..3afa4816 --- /dev/null +++ b/common_sensor_launch/config/distortion_corrector_node.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + base_frame: base_link + use_imu: true + use_3d_distortion_correction: false diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 1990f695..f7ef5ed7 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -214,6 +214,7 @@ def create_parameter_dict(*args): ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"), ("~/output/pointcloud", "rectified/pointcloud_ex"), ], + parameters=[load_composable_node_param("distortion_corrector_node_param_file")], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) ) @@ -373,7 +374,11 @@ def add_launch_arg(name: str, default_value=None, description=None): add_launch_arg("horizontal_resolution", "0.4") add_launch_arg( "blockage_diagnostics_param_file", - [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics_param_file.yaml"], + [FindPackageShare("common_sensor_launch"), "/config/blockage_diagnostics.param.yaml"], + ) + add_launch_arg( + "distortion_corrector_node_param_file", + [FindPackageShare("common_sensor_launch"), "/config/distortion_corrector_node.param.yaml"], ) set_container_executable = SetLaunchConfiguration( From 4fb8e66db59fb7ff9ec2a2a567b135bd17e6614b Mon Sep 17 00:00:00 2001 From: Sho Iwasawa <41606073+zusizusi@users.noreply.github.com> Date: Tue, 9 Jul 2024 04:07:19 +0300 Subject: [PATCH 03/13] fix(common_sensor_launch): change vlp16 param (#251) fix vlp16 param Signed-off-by: Sho Iwasawa --- common_sensor_launch/launch/velodyne_VLP16.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_sensor_launch/launch/velodyne_VLP16.launch.xml b/common_sensor_launch/launch/velodyne_VLP16.launch.xml index a105b0a2..4a6cd6c1 100644 --- a/common_sensor_launch/launch/velodyne_VLP16.launch.xml +++ b/common_sensor_launch/launch/velodyne_VLP16.launch.xml @@ -37,7 +37,7 @@ - + From 25cadb37746ae424832cd44ff1c2e2391a5fec02 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Tue, 9 Jul 2024 22:18:53 +0900 Subject: [PATCH 04/13] chore: remapped topics for the point type migration (#248) chore: remapped topics to match the temporary fix for the sensing point migration Signed-off-by: Kenzo Lobos-Tsunekawa --- common_sensor_launch/launch/nebula_node_container.launch.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index f7ef5ed7..4d7a44e7 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -119,8 +119,10 @@ def create_parameter_dict(*args): }, ], remappings=[ - ("aw_points", "pointcloud_raw"), - ("aw_points_ex", "pointcloud_raw_ex"), + # cSpell:ignore knzo25 + # TODO(knzo25): fix the remapping once nebula gets updated + ("pandar_points", "pointcloud_raw_ex"), + ("velodyne_points", "pointcloud_raw_ex"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) From 7e83222a9be984ff29b92da94b5cf2e66a93b1bf Mon Sep 17 00:00:00 2001 From: Amadeusz Szymko Date: Mon, 22 Jul 2024 15:14:14 +0900 Subject: [PATCH 05/13] refactor!: pointcloud_preprocessor prefix package and namespace with autoware (#257) * refactor!: pointcloud_preprocessor prefix package and namespace with autoware Signed-off-by: Amadeusz Szymko * ci(pre-commit): autofix --------- Signed-off-by: Amadeusz Szymko Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../launch/new_livox_horizon.launch.py | 4 +-- .../launch/pointcloud_preprocessor.launch.py | 4 +-- .../launch/velodyne_node_container.launch.py | 12 ++++---- aip_x1_launch/package.xml | 2 +- .../launch/pandar_node_container.launch.py | 28 +++++++++---------- .../launch/pointcloud_preprocessor.launch.py | 4 +-- aip_x2_launch/package.xml | 2 +- .../launch/pointcloud_preprocessor.launch.py | 4 +-- aip_xx1_gen2_launch/package.xml | 2 +- .../launch/pointcloud_preprocessor.launch.py | 4 +-- aip_xx1_launch/package.xml | 2 +- .../launch/livox_horizon.launch.py | 4 +-- .../launch/nebula_node_container.launch.py | 20 ++++++------- .../launch/new_livox_horizon.launch.py | 4 +-- 14 files changed, 48 insertions(+), 48 deletions(-) diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py index 922d23ba..4f262a16 100644 --- a/aip_x1_launch/launch/new_livox_horizon.launch.py +++ b/aip_x1_launch/launch/new_livox_horizon.launch.py @@ -47,8 +47,8 @@ def get_livox_tag_filter_component(): def get_crop_box_min_range_component(context, livox_frame_id): use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context) crop_box_min_range_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_min_range", remappings=[ ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"), diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py index 8d799261..639705b6 100644 --- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py @@ -26,8 +26,8 @@ def launch_setup(context, *args, **kwargs): # set concat filter as a component concat_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py index 2ce274b1..96e72a17 100644 --- a/aip_x1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_launch/launch/velodyne_node_container.launch.py @@ -94,8 +94,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_self", remappings=[ ("input", "pointcloud_raw_ex"), @@ -108,8 +108,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), @@ -130,8 +130,8 @@ def create_parameter_dict(*args): } # keep the output frame as the input frame nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent", name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index 8872a716..3df46647 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,10 +10,10 @@ ament_cmake_auto + autoware_pointcloud_preprocessor compare_map_segmentation gnss_poser imu_corrector - pointcloud_preprocessor tamagawa_imu_driver topic_tools ublox_gps diff --git a/aip_x2_launch/launch/pandar_node_container.launch.py b/aip_x2_launch/launch/pandar_node_container.launch.py index b950761e..17a1d97c 100644 --- a/aip_x2_launch/launch/pandar_node_container.launch.py +++ b/aip_x2_launch/launch/pandar_node_container.launch.py @@ -136,8 +136,8 @@ def create_parameter_dict(*args): cropbox_parameters["max_z"] = vehicle_info["max_height_offset"] self_crop_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_self", remappings=[ ("input", "pointcloud_raw_ex"), @@ -159,8 +159,8 @@ def create_parameter_dict(*args): ) right_mirror_crop_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_mirror_right", remappings=[ ("input", "self_cropped/pointcloud_ex"), @@ -181,8 +181,8 @@ def create_parameter_dict(*args): ) left_mirror_crop_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_mirror_left", remappings=[ ("input", "right_mirror_cropped/pointcloud_ex"), @@ -193,8 +193,8 @@ def create_parameter_dict(*args): ) undistort_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), @@ -214,8 +214,8 @@ def create_parameter_dict(*args): "output_frame": "" } # keep the output frame as the input frame ring_outlier_filter_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent", name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), @@ -226,8 +226,8 @@ def create_parameter_dict(*args): ) dual_return_filter_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DualReturnOutlierFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::DualReturnOutlierFilterComponent", name="dual_return_filter", remappings=[ ("input", "rectified/pointcloud_ex"), @@ -246,8 +246,8 @@ def create_parameter_dict(*args): distance_range = str2vector(context.perform_substitution(LaunchConfiguration("distance_range"))) blockage_diag_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::BlockageDiagComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent", name="blockage_return_diag", remappings=[ ("input", "pointcloud_raw_ex"), diff --git a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py index 3c0a09d8..827d68ab 100644 --- a/aip_x2_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x2_launch/launch/pointcloud_preprocessor.launch.py @@ -27,8 +27,8 @@ def launch_setup(context, *args, **kwargs): # set concat filter as a component concat_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index 65402aa1..b26c7777 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto + autoware_pointcloud_preprocessor common_sensor_launch dummy_diag_publisher gnss_poser imu_corrector - pointcloud_preprocessor septentrio_gnss_driver tamagawa_imu_driver topic_tools diff --git a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py index 433b7f58..8d2428d5 100644 --- a/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_xx1_gen2_launch/launch/pointcloud_preprocessor.launch.py @@ -27,8 +27,8 @@ def launch_setup(context, *args, **kwargs): # set concat filter as a component concat_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index 8f2f9df9..5934d08a 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -10,12 +10,12 @@ ament_cmake_auto + autoware_pointcloud_preprocessor common_sensor_launch glog_component gnss_poser imu_corrector pacmod3 - pointcloud_preprocessor ros2_socketcan tamagawa_imu_driver topic_tools diff --git a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py index 726171f9..521fe463 100644 --- a/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_xx1_launch/launch/pointcloud_preprocessor.launch.py @@ -27,8 +27,8 @@ def launch_setup(context, *args, **kwargs): # set concat filter as a component concat_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index 93246e4b..94462318 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -10,12 +10,12 @@ ament_cmake_auto + autoware_pointcloud_preprocessor common_sensor_launch glog_component gnss_poser imu_corrector pacmod3 - pointcloud_preprocessor ros2_socketcan tamagawa_imu_driver topic_tools diff --git a/common_sensor_launch/launch/livox_horizon.launch.py b/common_sensor_launch/launch/livox_horizon.launch.py index 4b3a996c..2a9c06f9 100644 --- a/common_sensor_launch/launch/livox_horizon.launch.py +++ b/common_sensor_launch/launch/livox_horizon.launch.py @@ -67,8 +67,8 @@ def get_livox_tag_filter_component(ns): def get_crop_box_min_range_component(ns, context): use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context) crop_box_min_range_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name=ns + "_crop_box_filter_min_range", remappings=[ ("input", ns + "/livox/tag_filtered/lidar" if use_tag_filter else ns + "/livox/lidar"), diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py index 4d7a44e7..e9660646 100644 --- a/common_sensor_launch/launch/nebula_node_container.launch.py +++ b/common_sensor_launch/launch/nebula_node_container.launch.py @@ -171,8 +171,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_self", remappings=[ ("input", "pointcloud_raw_ex"), @@ -193,8 +193,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_mirror", remappings=[ ("input", "self_cropped/pointcloud_ex"), @@ -207,8 +207,8 @@ def create_parameter_dict(*args): nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), @@ -230,8 +230,8 @@ def create_parameter_dict(*args): } # keep the output frame as the input frame nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent", name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), @@ -286,8 +286,8 @@ def create_parameter_dict(*args): ) blockage_diag_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::BlockageDiagComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::BlockageDiagComponent", name="blockage_diag", remappings=[ ("input", "pointcloud_raw_ex"), diff --git a/common_sensor_launch/launch/new_livox_horizon.launch.py b/common_sensor_launch/launch/new_livox_horizon.launch.py index b887159f..9d1075fd 100644 --- a/common_sensor_launch/launch/new_livox_horizon.launch.py +++ b/common_sensor_launch/launch/new_livox_horizon.launch.py @@ -47,8 +47,8 @@ def get_livox_tag_filter_component(): def get_crop_box_min_range_component(context, livox_frame_id): use_tag_filter = IfCondition(LaunchConfiguration("use_tag_filter")).evaluate(context) crop_box_min_range_component = ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::CropBoxFilterComponent", + package="autoware_pointcloud_preprocessor", + plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", name="crop_box_filter_min_range", remappings=[ ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"), From fd3cb5b44ffed01493924a1c219a2630056ea98d Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 24 Jul 2024 10:07:51 +0900 Subject: [PATCH 06/13] chore(aip_x1_launch): update compare_map_segmentation prefix (#259) * chore(aip_x1_launch): remove unneccessary depend Signed-off-by: badai-nguyen * fix: compare_map_filter prefix update Signed-off-by: badai-nguyen * ci(pre-commit): autofix --------- Signed-off-by: badai-nguyen Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- aip_x1_launch/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index 3df46647..b774067e 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,8 +10,8 @@ ament_cmake_auto + autoware_compare_map_segmentation autoware_pointcloud_preprocessor - compare_map_segmentation gnss_poser imu_corrector tamagawa_imu_driver From a241c3f4d1c83ed3016e6dd8067ac52f9a4b9ae8 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Wed, 24 Jul 2024 10:44:03 +0900 Subject: [PATCH 07/13] refactor(aip_x1_launch): remove_unneccesary_depend (#266) Signed-off-by: badai-nguyen --- aip_x1_launch/package.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index b774067e..fbe8aa5a 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,7 +10,6 @@ ament_cmake_auto - autoware_compare_map_segmentation autoware_pointcloud_preprocessor gnss_poser imu_corrector From c54bd9102a2c83b2538bd76eb9b7a9b821872398 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Thu, 25 Jul 2024 09:44:09 +0900 Subject: [PATCH 08/13] refactor(common_sensor_launch, aip_x2_launch, aip_xx1_gen2_launch): radar package names (#267) * chore: rename radar_tracks_msgs_converter to autoware_radar_tracks_msgs_converter Signed-off-by: Taekjin LEE * chore: update package dependencies for radar object merging Signed-off-by: Taekjin LEE * chore: update package dependencies for radar object merging Signed-off-by: Taekjin LEE --------- Signed-off-by: Taekjin LEE --- aip_x2_launch/launch/radar.launch.xml | 2 +- aip_x2_launch/package.xml | 1 + aip_xx1_gen2_launch/launch/radar.launch.xml | 14 +++++++------- aip_xx1_gen2_launch/package.xml | 2 ++ common_sensor_launch/launch/ars408.launch.xml | 4 ++-- common_sensor_launch/package.xml | 4 ++-- 6 files changed, 15 insertions(+), 12 deletions(-) diff --git a/aip_x2_launch/launch/radar.launch.xml b/aip_x2_launch/launch/radar.launch.xml index 042e9d81..d3af1cd1 100644 --- a/aip_x2_launch/launch/radar.launch.xml +++ b/aip_x2_launch/launch/radar.launch.xml @@ -59,7 +59,7 @@ - + diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index b26c7777..2d8dfa40 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -11,6 +11,7 @@ ament_cmake_auto autoware_pointcloud_preprocessor + autoware_simple_object_merger common_sensor_launch dummy_diag_publisher gnss_poser diff --git a/aip_xx1_gen2_launch/launch/radar.launch.xml b/aip_xx1_gen2_launch/launch/radar.launch.xml index 7eb4dbcb..c917c9a6 100644 --- a/aip_xx1_gen2_launch/launch/radar.launch.xml +++ b/aip_xx1_gen2_launch/launch/radar.launch.xml @@ -56,7 +56,7 @@ - + @@ -88,7 +88,7 @@ - + @@ -120,7 +120,7 @@ - + @@ -152,7 +152,7 @@ - + @@ -184,7 +184,7 @@ - + @@ -216,7 +216,7 @@ - + @@ -227,7 +227,7 @@ - + diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index 5934d08a..99266c70 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto autoware_pointcloud_preprocessor + autoware_radar_tracks_msgs_converter + autoware_simple_object_merger common_sensor_launch glog_component gnss_poser diff --git a/common_sensor_launch/launch/ars408.launch.xml b/common_sensor_launch/launch/ars408.launch.xml index 19451736..9a86faf2 100644 --- a/common_sensor_launch/launch/ars408.launch.xml +++ b/common_sensor_launch/launch/ars408.launch.xml @@ -40,7 +40,7 @@ - + @@ -48,7 +48,7 @@ - + diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml index 3b41b61d..c0c1170b 100644 --- a/common_sensor_launch/package.xml +++ b/common_sensor_launch/package.xml @@ -12,10 +12,10 @@ ament_cmake_auto + autoware_radar_tracks_msgs_converter + autoware_radar_tracks_noise_filter dummy_diag_publisher nebula_sensor_driver - radar_tracks_msgs_converter - radar_tracks_noise_filter velodyne_monitor ament_lint_auto From d182115b253882ed666483ea4b3406e99e8378a9 Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Fri, 2 Aug 2024 23:04:10 +0900 Subject: [PATCH 09/13] chore(gnss_launch): added autoware prefix to gnss_poser (#277) Added autoware prefix to gnss_poser Signed-off-by: TaikiYamada4 --- aip_x1_launch/launch/gnss.launch.xml | 2 +- aip_x1_launch/package.xml | 2 +- aip_x2_launch/launch/gnss.launch.xml | 2 +- aip_x2_launch/package.xml | 2 +- aip_xx1_gen2_launch/launch/gnss.launch.xml | 2 +- aip_xx1_gen2_launch/package.xml | 2 +- aip_xx1_launch/launch/gnss.launch.xml | 2 +- aip_xx1_launch/package.xml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml index 26b0de4c..c99d0afb 100644 --- a/aip_x1_launch/launch/gnss.launch.xml +++ b/aip_x1_launch/launch/gnss.launch.xml @@ -13,7 +13,7 @@ - + diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index fbe8aa5a..e83f7e17 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,8 +10,8 @@ ament_cmake_auto + autoware_gnss_poser autoware_pointcloud_preprocessor - gnss_poser imu_corrector tamagawa_imu_driver topic_tools diff --git a/aip_x2_launch/launch/gnss.launch.xml b/aip_x2_launch/launch/gnss.launch.xml index edcbda19..13d4aefd 100644 --- a/aip_x2_launch/launch/gnss.launch.xml +++ b/aip_x2_launch/launch/gnss.launch.xml @@ -14,7 +14,7 @@ - + diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index 2d8dfa40..a23948d6 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto + autoware_gnss_poser autoware_pointcloud_preprocessor autoware_simple_object_merger common_sensor_launch dummy_diag_publisher - gnss_poser imu_corrector septentrio_gnss_driver tamagawa_imu_driver diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml index 37ad6bde..f035b3aa 100644 --- a/aip_xx1_gen2_launch/launch/gnss.launch.xml +++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml @@ -26,7 +26,7 @@ - + diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index 99266c70..332bef12 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -10,12 +10,12 @@ ament_cmake_auto + autoware_gnss_poser autoware_pointcloud_preprocessor autoware_radar_tracks_msgs_converter autoware_simple_object_merger common_sensor_launch glog_component - gnss_poser imu_corrector pacmod3 ros2_socketcan diff --git a/aip_xx1_launch/launch/gnss.launch.xml b/aip_xx1_launch/launch/gnss.launch.xml index 37ad6bde..f035b3aa 100644 --- a/aip_xx1_launch/launch/gnss.launch.xml +++ b/aip_xx1_launch/launch/gnss.launch.xml @@ -26,7 +26,7 @@ - + diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index 94462318..2e2d87de 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -10,10 +10,10 @@ ament_cmake_auto + autoware_gnss_poser autoware_pointcloud_preprocessor common_sensor_launch glog_component - gnss_poser imu_corrector pacmod3 ros2_socketcan From f091e0ba89e1da6de901f60efc8a55c10b0279aa Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Sat, 3 Aug 2024 18:21:17 +0900 Subject: [PATCH 10/13] revert(gnss_launch): revert PR of added autoware prefix to gnss_poser (#277) (#278) Revert "chore(gnss_launch): added autoware prefix to gnss_poser (#277)" --- aip_x1_launch/launch/gnss.launch.xml | 2 +- aip_x1_launch/package.xml | 2 +- aip_x2_launch/launch/gnss.launch.xml | 2 +- aip_x2_launch/package.xml | 2 +- aip_xx1_gen2_launch/launch/gnss.launch.xml | 2 +- aip_xx1_gen2_launch/package.xml | 2 +- aip_xx1_launch/launch/gnss.launch.xml | 2 +- aip_xx1_launch/package.xml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml index c99d0afb..26b0de4c 100644 --- a/aip_x1_launch/launch/gnss.launch.xml +++ b/aip_x1_launch/launch/gnss.launch.xml @@ -13,7 +13,7 @@ - + diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index e83f7e17..fbe8aa5a 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,8 +10,8 @@ ament_cmake_auto - autoware_gnss_poser autoware_pointcloud_preprocessor + gnss_poser imu_corrector tamagawa_imu_driver topic_tools diff --git a/aip_x2_launch/launch/gnss.launch.xml b/aip_x2_launch/launch/gnss.launch.xml index 13d4aefd..edcbda19 100644 --- a/aip_x2_launch/launch/gnss.launch.xml +++ b/aip_x2_launch/launch/gnss.launch.xml @@ -14,7 +14,7 @@ - + diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index a23948d6..2d8dfa40 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto - autoware_gnss_poser autoware_pointcloud_preprocessor autoware_simple_object_merger common_sensor_launch dummy_diag_publisher + gnss_poser imu_corrector septentrio_gnss_driver tamagawa_imu_driver diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml index f035b3aa..37ad6bde 100644 --- a/aip_xx1_gen2_launch/launch/gnss.launch.xml +++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml @@ -26,7 +26,7 @@ - + diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index 332bef12..99266c70 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -10,12 +10,12 @@ ament_cmake_auto - autoware_gnss_poser autoware_pointcloud_preprocessor autoware_radar_tracks_msgs_converter autoware_simple_object_merger common_sensor_launch glog_component + gnss_poser imu_corrector pacmod3 ros2_socketcan diff --git a/aip_xx1_launch/launch/gnss.launch.xml b/aip_xx1_launch/launch/gnss.launch.xml index f035b3aa..37ad6bde 100644 --- a/aip_xx1_launch/launch/gnss.launch.xml +++ b/aip_xx1_launch/launch/gnss.launch.xml @@ -26,7 +26,7 @@ - + diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index 2e2d87de..94462318 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -10,10 +10,10 @@ ament_cmake_auto - autoware_gnss_poser autoware_pointcloud_preprocessor common_sensor_launch glog_component + gnss_poser imu_corrector pacmod3 ros2_socketcan From 82d23170e851e080754f569100a93088c3c048e1 Mon Sep 17 00:00:00 2001 From: Kenzo Lobos Tsunekawa Date: Tue, 27 Aug 2024 08:11:36 +0900 Subject: [PATCH 11/13] chore: part of the refactor if imu_corrector into the autoware namespace (#273) Signed-off-by: Kenzo Lobos-Tsunekawa --- aip_x1_launch/launch/imu.launch.xml | 4 ++-- aip_x1_launch/package.xml | 2 +- aip_x2_launch/launch/imu.launch.xml | 4 ++-- aip_x2_launch/package.xml | 2 +- aip_xx1_gen2_launch/launch/imu.launch.xml | 4 ++-- aip_xx1_gen2_launch/package.xml | 2 +- aip_xx1_launch/launch/imu.launch.xml | 4 ++-- aip_xx1_launch/package.xml | 2 +- 8 files changed, 12 insertions(+), 12 deletions(-) diff --git a/aip_x1_launch/launch/imu.launch.xml b/aip_x1_launch/launch/imu.launch.xml index bf00b7ca..9579dd64 100644 --- a/aip_x1_launch/launch/imu.launch.xml +++ b/aip_x1_launch/launch/imu.launch.xml @@ -8,14 +8,14 @@ - + - + diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index fbe8aa5a..aa8cee36 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,9 +10,9 @@ ament_cmake_auto + autoware_imu_corrector autoware_pointcloud_preprocessor gnss_poser - imu_corrector tamagawa_imu_driver topic_tools ublox_gps diff --git a/aip_x2_launch/launch/imu.launch.xml b/aip_x2_launch/launch/imu.launch.xml index e3f1a056..f8256139 100644 --- a/aip_x2_launch/launch/imu.launch.xml +++ b/aip_x2_launch/launch/imu.launch.xml @@ -23,14 +23,14 @@ - + - + diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index 2d8dfa40..d7c78992 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -10,12 +10,12 @@ ament_cmake_auto + autoware_imu_corrector autoware_pointcloud_preprocessor autoware_simple_object_merger common_sensor_launch dummy_diag_publisher gnss_poser - imu_corrector septentrio_gnss_driver tamagawa_imu_driver topic_tools diff --git a/aip_xx1_gen2_launch/launch/imu.launch.xml b/aip_xx1_gen2_launch/launch/imu.launch.xml index 04011706..6e835316 100644 --- a/aip_xx1_gen2_launch/launch/imu.launch.xml +++ b/aip_xx1_gen2_launch/launch/imu.launch.xml @@ -37,7 +37,7 @@ - + @@ -45,7 +45,7 @@ - + diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index 99266c70..e02e5ea3 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -10,13 +10,13 @@ ament_cmake_auto + autoware_imu_corrector autoware_pointcloud_preprocessor autoware_radar_tracks_msgs_converter autoware_simple_object_merger common_sensor_launch glog_component gnss_poser - imu_corrector pacmod3 ros2_socketcan tamagawa_imu_driver diff --git a/aip_xx1_launch/launch/imu.launch.xml b/aip_xx1_launch/launch/imu.launch.xml index 85b620d7..321747c9 100644 --- a/aip_xx1_launch/launch/imu.launch.xml +++ b/aip_xx1_launch/launch/imu.launch.xml @@ -17,14 +17,14 @@ - + - + diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index 94462318..b4c5919e 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto + autoware_imu_corrector autoware_pointcloud_preprocessor common_sensor_launch glog_component gnss_poser - imu_corrector pacmod3 ros2_socketcan tamagawa_imu_driver From f276dc80328217847ce6d62fb6a4dab6bd4af4a1 Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Thu, 29 Aug 2024 16:53:25 +0900 Subject: [PATCH 12/13] chore(gnss_launch): added autoware prefix to gnss_poser (#283) Added autoware prefix to gnss_poser Signed-off-by: TaikiYamada4 --- aip_x1_launch/launch/gnss.launch.xml | 2 +- aip_x1_launch/package.xml | 2 +- aip_x2_launch/launch/gnss.launch.xml | 2 +- aip_x2_launch/package.xml | 2 +- aip_xx1_gen2_launch/launch/gnss.launch.xml | 2 +- aip_xx1_gen2_launch/package.xml | 2 +- aip_xx1_launch/launch/gnss.launch.xml | 2 +- aip_xx1_launch/package.xml | 2 +- 8 files changed, 8 insertions(+), 8 deletions(-) diff --git a/aip_x1_launch/launch/gnss.launch.xml b/aip_x1_launch/launch/gnss.launch.xml index 26b0de4c..c99d0afb 100644 --- a/aip_x1_launch/launch/gnss.launch.xml +++ b/aip_x1_launch/launch/gnss.launch.xml @@ -13,7 +13,7 @@ - + diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml index aa8cee36..84e7ee19 100644 --- a/aip_x1_launch/package.xml +++ b/aip_x1_launch/package.xml @@ -10,9 +10,9 @@ ament_cmake_auto + autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor - gnss_poser tamagawa_imu_driver topic_tools ublox_gps diff --git a/aip_x2_launch/launch/gnss.launch.xml b/aip_x2_launch/launch/gnss.launch.xml index edcbda19..13d4aefd 100644 --- a/aip_x2_launch/launch/gnss.launch.xml +++ b/aip_x2_launch/launch/gnss.launch.xml @@ -14,7 +14,7 @@ - + diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml index d7c78992..1bcc5b50 100644 --- a/aip_x2_launch/package.xml +++ b/aip_x2_launch/package.xml @@ -10,12 +10,12 @@ ament_cmake_auto + autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor autoware_simple_object_merger common_sensor_launch dummy_diag_publisher - gnss_poser septentrio_gnss_driver tamagawa_imu_driver topic_tools diff --git a/aip_xx1_gen2_launch/launch/gnss.launch.xml b/aip_xx1_gen2_launch/launch/gnss.launch.xml index 37ad6bde..f035b3aa 100644 --- a/aip_xx1_gen2_launch/launch/gnss.launch.xml +++ b/aip_xx1_gen2_launch/launch/gnss.launch.xml @@ -26,7 +26,7 @@ - + diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml index e02e5ea3..b37d8f0b 100644 --- a/aip_xx1_gen2_launch/package.xml +++ b/aip_xx1_gen2_launch/package.xml @@ -10,13 +10,13 @@ ament_cmake_auto + autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor autoware_radar_tracks_msgs_converter autoware_simple_object_merger common_sensor_launch glog_component - gnss_poser pacmod3 ros2_socketcan tamagawa_imu_driver diff --git a/aip_xx1_launch/launch/gnss.launch.xml b/aip_xx1_launch/launch/gnss.launch.xml index 37ad6bde..f035b3aa 100644 --- a/aip_xx1_launch/launch/gnss.launch.xml +++ b/aip_xx1_launch/launch/gnss.launch.xml @@ -26,7 +26,7 @@ - + diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml index b4c5919e..0b5b5be9 100644 --- a/aip_xx1_launch/package.xml +++ b/aip_xx1_launch/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto + autoware_gnss_poser autoware_imu_corrector autoware_pointcloud_preprocessor common_sensor_launch glog_component - gnss_poser pacmod3 ros2_socketcan tamagawa_imu_driver From d0682130a1e1e2eb64a47dc2d9b83272085eb2c1 Mon Sep 17 00:00:00 2001 From: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> Date: Thu, 12 Sep 2024 08:24:38 +0900 Subject: [PATCH 13/13] fix: add default missing params (#285) * fix: add default missing params Signed-off-by: badai-nguyen * fix: add missing param Signed-off-by: badai-nguyen --------- Signed-off-by: badai-nguyen Co-authored-by: Yi-Hsiang Fang (Vivid) <146902905+vividf@users.noreply.github.com> --- aip_x2_launch/config/dual_return_filter.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/aip_x2_launch/config/dual_return_filter.param.yaml b/aip_x2_launch/config/dual_return_filter.param.yaml index 5b1f1adb..b9488dbb 100644 --- a/aip_x2_launch/config/dual_return_filter.param.yaml +++ b/aip_x2_launch/config/dual_return_filter.param.yaml @@ -4,6 +4,9 @@ weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" /> visibility_error_threshold: 0.5 visibility_warn_threshold: 0.9 + weak_first_distance_ratio: 1.004 + general_distance_ratio: 1.03 + max_azimuth_diff: 50.0 max_distance: 5.0 x_max: 18.0 x_min: -12.0