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feat: acceleration and transport layer #348

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feat: acceleration and transport layer #348

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b0c157b
feat: initialize parameters for concatenate
vividf Oct 30, 2024
6e59490
chore: add xx1 gen2 parameters
vividf Oct 31, 2024
00d8bf1
chore: fix aip x1 parameter
vividf Nov 1, 2024
74a0766
chore: fix x2 parameter
vividf Nov 6, 2024
470e1e0
Merge branch 'tier4/universe' into feat/new_concatenate_node_parameter
vividf Nov 7, 2024
453c3ff
feat: implemented the launcher-side changes for the cuda preprocessin…
knzo25 Nov 25, 2024
31c8b92
Merge remote-tracking branch 'origin/tier4/universe' into feat/cuda_a…
knzo25 Dec 20, 2024
972c54a
feat: accepting variable number of crop boxes now
knzo25 Feb 3, 2025
6b34c93
Merge branch 'tier4/universe' into feat/cuda_acceleration_and_transpo…
knzo25 Feb 5, 2025
dcee2d3
Merge branch 'tier4/universe' into feat/cuda_acceleration_and_transpo…
knzo25 Feb 5, 2025
b1f534a
chore: updated the launchers to reflect the newest changes in the nod…
knzo25 Feb 14, 2025
ad4d6a2
Merge branch 'tier4/universe' into feat/cuda_acceleration_and_transpo…
knzo25 Feb 14, 2025
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1 change: 1 addition & 0 deletions aip_xx1_gen2_launch/launch/lidar.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -180,6 +180,7 @@ def add_launch_arg(name: str, default_value=None, **kwargs):
)
add_launch_arg("vehicle_mirror_param_file")
add_launch_arg("use_pointcloud_container", "false", description="launch pointcloud container")
add_launch_arg("use_cuda_preprocessor", "true", description="use the cuda layer")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
add_launch_arg("enable_blockage_diag", "false")
add_launch_arg("return_mode", "Dual")
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15 changes: 15 additions & 0 deletions aip_xx1_launch/launch/lidar.launch.xml
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Expand Up @@ -6,6 +6,8 @@
<arg name="vehicle_id" default="$(env VEHICLE_ID default)"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="use_pointcloud_container" default="true"/>
<arg name="use_cuda_preprocessor" default="true"/>
<arg name="enable_blockage_diag" default="true"/>
<arg name="udp_only" default="false"/>

Expand All @@ -25,6 +27,9 @@
<arg name="udp_only" value="$(var udp_only)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="vertical_bins" value="128"/>
<arg name="horizontal_ring_id" value="64"/>
<arg name="is_channel_order_top2down" value="false"/>
Expand All @@ -48,6 +53,9 @@
<arg name="udp_only" value="$(var udp_only)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="vertical_bins" value="16"/>
<arg name="horizontal_ring_id" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
Expand All @@ -71,6 +79,9 @@
<arg name="udp_only" value="$(var udp_only)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="vertical_bins" value="16"/>
<arg name="horizontal_ring_id" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
Expand All @@ -94,6 +105,9 @@
<arg name="udp_only" value="$(var udp_only)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="pointcloud_container"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="vertical_bins" value="16"/>
<arg name="horizontal_ring_id" value="0"/>
<arg name="is_channel_order_top2down" value="false"/>
Expand Down Expand Up @@ -126,6 +140,7 @@
<arg name="base_frame" value="base_link"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>

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38 changes: 27 additions & 11 deletions aip_xx1_launch/launch/pointcloud_preprocessor.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,17 +37,32 @@
)

# set concat filter as a component
concat_component = ComposableNode(
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
],
parameters=[concatenate_and_time_sync_node_param],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
if LaunchConfiguration("use_cuda_preprocessor").perform(context):
concat_component = ComposableNode(
package="autoware_cuda_pointcloud_preprocessor",
plugin="autoware::cuda_pointcloud_preprocessor::CudaPointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
("output/cuda", "concatenated/pointcloud/cuda"),
],
parameters=[concatenate_and_time_sync_node_param],
# NOTE(knzo25): when using the cuda blackboard, this setting can not be made global

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# extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
else:
concat_component = ComposableNode(
package="autoware_pointcloud_preprocessor",
plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
name="concatenate_data",
remappings=[
("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"),
("output", "concatenated/pointcloud"),
],
parameters=[concatenate_and_time_sync_node_param],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
Comment on lines +40 to +65
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The two branches differ only in their package, plugin and extra_params. The rest of the code could be merged into one to prevent future contributors from only modifying the one they're concerned about


# load concat or passthrough filter
concat_loader = LoadComposableNodes(
Expand All @@ -69,6 +84,7 @@

add_launch_arg("use_multithread", "False")
add_launch_arg("use_intra_process", "False")
add_launch_arg("use_cuda_preprocessor", "True")
add_launch_arg("pointcloud_container_name", "pointcloud_container")
add_launch_arg(
"concatenate_and_time_sync_node_param_path",
Expand Down
1 change: 1 addition & 0 deletions aip_xx1_launch/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@

<buildtool_depend>ament_cmake_auto</buildtool_depend>

<exec_depend>autoware_cuda_pointcloud_preprocessor</exec_depend>
<exec_depend>autoware_glog_component</exec_depend>
<exec_depend>autoware_gnss_poser</exec_depend>
<exec_depend>autoware_imu_corrector</exec_depend>
Expand Down
6 changes: 6 additions & 0 deletions common_sensor_launch/launch/hesai_OT128.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,9 @@
<arg name="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_node_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="use_cuda_preprocessor" default="false"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
Expand All @@ -31,6 +34,9 @@
<arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="ptp_profile" value="automotive"/>
Expand Down
6 changes: 6 additions & 0 deletions common_sensor_launch/launch/hesai_XT32.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,9 @@
<arg name="dual_return_distance_threshold" default="0.1"/>
<arg name="vehicle_mirror_param_file"/>
<arg name="container_name" default="hesai_node_container"/>
<arg name="pointcloud_container_name" default="pointcloud_container"/>
<arg name="use_pointcloud_container" default="false"/>
<arg name="use_cuda_preprocessor" default="false"/>
<arg name="udp_only" default="false"/>

<include file="$(find-pkg-share common_sensor_launch)/launch/nebula_node_container.launch.py">
Expand All @@ -33,6 +36,9 @@
<arg name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)"/>
<arg name="container_name" value="$(var container_name)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="use_cuda_preprocessor" value="$(var use_cuda_preprocessor)"/>
<arg name="use_intra_process" value="true"/>
<arg name="use_multithread" value="true"/>
<arg name="ptp_profile" value="automotive"/>
Expand Down
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