From 4b3a37d5556ff1be27f011b7bac393463ba22d94 Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 7 Nov 2024 19:26:05 +0900 Subject: [PATCH 01/11] feat: awsim load comcatenate parameter Signed-off-by: vividf --- .../concatenate_and_time_sync_node.param.yaml | 22 ++++++++++++ .../launch/pointcloud_preprocessor.launch.py | 35 +++++++++++-------- 2 files changed, 42 insertions(+), 15 deletions(-) create mode 100644 awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml new file mode 100644 index 0000000..35e5df4 --- /dev/null +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -0,0 +1,22 @@ +/**: + ros__parameters: + debug_mode: false + has_static_tf_only: false + rosbag_replay: false + rosbag_length: 20.0 + maximum_queue_size: 5 + timeout_sec: 0.2 + is_motion_compensated: false + publish_synchronized_pointcloud: true + keep_input_frame_in_synchronized_pointcloud: true + publish_previous_but_late_pointcloud: false + synchronized_pointcloud_postfix: pointcloud + input_twist_topic_type: twist + input_topics: [ + "/sensing/lidar/right/pointcloud_before_sync", # 0.05 + "/sensing/lidar/top/pointcloud_before_sync", # 0.05 + "/sensing/lidar/left/pointcloud_before_sync", # 0.05 + ] + output_frame: base_link + lidar_timestamp_offsets: [0.0, 0.0, 0.0] + lidar_timestamp_noise_window: [0.01, 0.01, 0.01] \ No newline at end of file diff --git a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py index 6bfec90..bbabebf 100644 --- a/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py +++ b/awsim_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py @@ -12,7 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. +import os +from ament_index_python.packages import get_package_share_directory import launch from launch.actions import DeclareLaunchArgument from launch.actions import OpaqueFunction @@ -22,9 +24,16 @@ from launch.substitutions import LaunchConfiguration from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode - +from launch_ros.parameter_descriptions import ParameterFile def launch_setup(context, *args, **kwargs): + # concatenate node parameters + concatenate_and_time_sync_node_param = ParameterFile( + param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform( + context + ), + allow_substs=True, + ) # set concat filter as a component concat_component = ComposableNode( package="autoware_pointcloud_preprocessor", @@ -37,19 +46,7 @@ def launch_setup(context, *args, **kwargs): ), ("output", "concatenated/pointcloud"), ], - parameters=[ - { - "input_topics": [ - "/sensing/lidar/top/pointcloud_before_sync", - "/sensing/lidar/left/pointcloud_before_sync", - "/sensing/lidar/right/pointcloud_before_sync", - ], - "output_frame": LaunchConfiguration("base_frame"), - "input_twist_topic_type": "twist", - "publish_synchronized_pointcloud": True, - "timeout_sec": 0.01, - } - ], + parameters=[concatenate_and_time_sync_node_param], extra_arguments=[ {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} ], @@ -73,10 +70,18 @@ def add_launch_arg(name: str, default_value=None): DeclareLaunchArgument(name, default_value=default_value) ) - add_launch_arg("base_frame", "base_link") + awsim_sensor_kit_launch_share_dir = get_package_share_directory("awsim_sensor_kit_launch") add_launch_arg("use_multithread", "False") add_launch_arg("use_intra_process", "False") add_launch_arg("pointcloud_container_name", "pointcloud_container") + add_launch_arg( + "concatenate_and_time_sync_node_param_path", + os.path.join( + awsim_sensor_kit_launch_share_dir, + "config", + "concatenate_and_time_sync_node.param.yaml", + ), + ) set_container_executable = SetLaunchConfiguration( "container_executable", From ba5878702183e2995fae1e32ed2126a17c637cd8 Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 7 Nov 2024 19:27:18 +0900 Subject: [PATCH 02/11] chore: add space Signed-off-by: vividf --- .../config/concatenate_and_time_sync_node.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml index 35e5df4..3605ef5 100644 --- a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -19,4 +19,4 @@ ] output_frame: base_link lidar_timestamp_offsets: [0.0, 0.0, 0.0] - lidar_timestamp_noise_window: [0.01, 0.01, 0.01] \ No newline at end of file + lidar_timestamp_noise_window: [0.01, 0.01, 0.01] From 01f20e84303601aedd7eb35fc8f028fcfe428752 Mon Sep 17 00:00:00 2001 From: vividf Date: Mon, 11 Nov 2024 14:41:17 +0900 Subject: [PATCH 03/11] chore: fix timeout sec Signed-off-by: vividf --- .../config/concatenate_and_time_sync_node.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml index 3605ef5..39dc86d 100644 --- a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -5,7 +5,7 @@ rosbag_replay: false rosbag_length: 20.0 maximum_queue_size: 5 - timeout_sec: 0.2 + timeout_sec: 0.01 is_motion_compensated: false publish_synchronized_pointcloud: true keep_input_frame_in_synchronized_pointcloud: true @@ -13,9 +13,9 @@ synchronized_pointcloud_postfix: pointcloud input_twist_topic_type: twist input_topics: [ - "/sensing/lidar/right/pointcloud_before_sync", # 0.05 + "/sensing/lidar/right/pointcloud_before_sync", # Fill this after using the right point cloud "/sensing/lidar/top/pointcloud_before_sync", # 0.05 - "/sensing/lidar/left/pointcloud_before_sync", # 0.05 + "/sensing/lidar/left/pointcloud_before_sync", # Fill this after using the left point cloud ] output_frame: base_link lidar_timestamp_offsets: [0.0, 0.0, 0.0] From 4b7f771e6bc2b1b58749436f9ed69b29ca7c5613 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 14 Nov 2024 10:19:43 +0900 Subject: [PATCH 04/11] Added `udp_only` Signed-off-by: Shintaro Sakoda --- awsim_sensor_kit_launch/launch/lidar.launch.xml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/awsim_sensor_kit_launch/launch/lidar.launch.xml b/awsim_sensor_kit_launch/launch/lidar.launch.xml index 6dcb49a..270bff3 100644 --- a/awsim_sensor_kit_launch/launch/lidar.launch.xml +++ b/awsim_sensor_kit_launch/launch/lidar.launch.xml @@ -21,6 +21,7 @@ + @@ -38,6 +39,7 @@ + @@ -55,6 +57,7 @@ + From 3c617a7321cab354a99447c680af4eedc88ccd95 Mon Sep 17 00:00:00 2001 From: vividf Date: Wed, 4 Dec 2024 12:21:28 +0900 Subject: [PATCH 05/11] chore: update params Signed-off-by: vividf --- .../config/concatenate_and_time_sync_node.param.yaml | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml index 39dc86d..bb527cd 100644 --- a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -2,8 +2,7 @@ ros__parameters: debug_mode: false has_static_tf_only: false - rosbag_replay: false - rosbag_length: 20.0 + rosbag_length: 10.0 maximum_queue_size: 5 timeout_sec: 0.01 is_motion_compensated: false From 28d67e1d90bdbd89b1ff2bbd1abc63549e12a951 Mon Sep 17 00:00:00 2001 From: Masaki Baba Date: Fri, 6 Dec 2024 13:43:18 +0900 Subject: [PATCH 06/11] fix(awsim_sensor_kit_launch): add autoware prefix to vehicle_velocity_converter (#27) * add autoware prefix Signed-off-by: a-maumau * add dependency autoware_vehicle_velocity_converter Signed-off-by: a-maumau --------- Signed-off-by: a-maumau --- awsim_sensor_kit_launch/launch/sensing.launch.xml | 2 +- awsim_sensor_kit_launch/package.xml | 1 + 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/awsim_sensor_kit_launch/launch/sensing.launch.xml b/awsim_sensor_kit_launch/launch/sensing.launch.xml index 51eef61..bc41540 100644 --- a/awsim_sensor_kit_launch/launch/sensing.launch.xml +++ b/awsim_sensor_kit_launch/launch/sensing.launch.xml @@ -23,7 +23,7 @@ - + diff --git a/awsim_sensor_kit_launch/package.xml b/awsim_sensor_kit_launch/package.xml index e37e457..f6988e0 100644 --- a/awsim_sensor_kit_launch/package.xml +++ b/awsim_sensor_kit_launch/package.xml @@ -11,6 +11,7 @@ autoware_gnss_poser autoware_pointcloud_preprocessor + autoware_vehicle_velocity_converter common_sensor_launch tamagawa_imu_driver topic_tools From 81ed40e3c55c0b52741438875d05b70e912c683e Mon Sep 17 00:00:00 2001 From: vividf Date: Mon, 9 Dec 2024 12:53:54 +0900 Subject: [PATCH 07/11] chore: add use_naive_approach Signed-off-by: vividf --- .../config/concatenate_and_time_sync_node.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml index bb527cd..818dac2 100644 --- a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -1,5 +1,7 @@ /**: ros__parameters: + # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true + use_naive_approach: false debug_mode: false has_static_tf_only: false rosbag_length: 10.0 From 9b151ef5e914dec828a79eda643a675af4b1907e Mon Sep 17 00:00:00 2001 From: vividf Date: Thu, 12 Dec 2024 14:44:27 +0900 Subject: [PATCH 08/11] chore: add mathcing strategy Signed-off-by: vividf --- .../config/concatenate_and_time_sync_node.param.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml index 818dac2..fcfc743 100644 --- a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -1,7 +1,5 @@ /**: ros__parameters: - # ignore the lidar_timestamp_offsets and lidar_timestamp_noise_window if 'use_naive_approach' is true - use_naive_approach: false debug_mode: false has_static_tf_only: false rosbag_length: 10.0 @@ -19,5 +17,7 @@ "/sensing/lidar/left/pointcloud_before_sync", # Fill this after using the left point cloud ] output_frame: base_link - lidar_timestamp_offsets: [0.0, 0.0, 0.0] - lidar_timestamp_noise_window: [0.01, 0.01, 0.01] + matching_strategy: + type: advanced + lidar_timestamp_offsets: [0.0, 0.0, 0.0] + lidar_timestamp_noise_window: [0.01, 0.01, 0.01] \ No newline at end of file From 74e918fcf7afaed1270ccc946ec7b70f1b1733f7 Mon Sep 17 00:00:00 2001 From: vividf Date: Tue, 21 Jan 2025 14:42:08 +0900 Subject: [PATCH 09/11] chore: increase window size Signed-off-by: vividf --- .../config/concatenate_and_time_sync_node.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml index fcfc743..d1bc014 100644 --- a/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml +++ b/awsim_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml @@ -20,4 +20,4 @@ matching_strategy: type: advanced lidar_timestamp_offsets: [0.0, 0.0, 0.0] - lidar_timestamp_noise_window: [0.01, 0.01, 0.01] \ No newline at end of file + lidar_timestamp_noise_window: [0.02, 0.02, 0.02] \ No newline at end of file From 8233186cd5274ea624ffb281341a2eb9b1183879 Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Mon, 9 Dec 2024 23:38:32 +0900 Subject: [PATCH 10/11] chore: update CHANGELOG for 0.41.0 Signed-off-by: Ryohsuke Mitsudome --- awsim_sensor_kit_description/CHANGELOG.rst | 12 ++++ awsim_sensor_kit_description/package.xml | 2 +- awsim_sensor_kit_launch/CHANGELOG.rst | 69 ++++++++++++++++++++++ awsim_sensor_kit_launch/package.xml | 2 +- 4 files changed, 83 insertions(+), 2 deletions(-) create mode 100644 awsim_sensor_kit_description/CHANGELOG.rst create mode 100644 awsim_sensor_kit_launch/CHANGELOG.rst diff --git a/awsim_sensor_kit_description/CHANGELOG.rst b/awsim_sensor_kit_description/CHANGELOG.rst new file mode 100644 index 0000000..92981ae --- /dev/null +++ b/awsim_sensor_kit_description/CHANGELOG.rst @@ -0,0 +1,12 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package awsim_sensor_kit_description +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- + +0.39.0 (2024-12-09) +------------------- +* fixed to use xacro.load_yaml (`#6 `_) +* AWSIM sensor kit +* Contributors: Mamoru Sobue, Piotr Jaroszek diff --git a/awsim_sensor_kit_description/package.xml b/awsim_sensor_kit_description/package.xml index 0a0239c..6f1a102 100644 --- a/awsim_sensor_kit_description/package.xml +++ b/awsim_sensor_kit_description/package.xml @@ -2,7 +2,7 @@ awsim_sensor_kit_description - 0.1.0 + 0.39.0 The awsim_sensor_kit_description package Piotr Jaroszek Apache License 2.0 diff --git a/awsim_sensor_kit_launch/CHANGELOG.rst b/awsim_sensor_kit_launch/CHANGELOG.rst new file mode 100644 index 0000000..1ffa788 --- /dev/null +++ b/awsim_sensor_kit_launch/CHANGELOG.rst @@ -0,0 +1,69 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package awsim_sensor_kit_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- +* Merge remote-tracking branch 'origin/main' into humble +* Merge pull request `#26 `_ from SakodaShintaro/fix/add_udp_only + fix: add `udp_only` +* Merge pull request `#25 `_ from vividf/feature/tier4_awsim_load_concatenate + feat(awsim_sensor_kit_launch): awsim load concatenate node parameters +* chore: increase window size +* chore: add mathcing strategy +* chore: add use_naive_approach +* fix(awsim_sensor_kit_launch): add autoware prefix to vehicle_velocity_converter (`#27 `_) + * add autoware prefix + * add dependency autoware_vehicle_velocity_converter + --------- +* chore: update params +* Added `udp_only` +* chore: fix timeout sec +* chore: add space +* feat: awsim load comcatenate parameter +* Contributors: Masaki Baba, Ryohsuke Mitsudome, SakodaShintaro, Shintaro Sakoda, vividf + +0.39.0 (2024-12-09) +------------------- +* Merge pull request `#24 `_ from SakodaShintaro/fix/restore_timeout_sec + fix: restore timeout_sec +* Restore timeout_sec +* fix: fix to use sample sensor kit (`#22 `_) + * Fixed to use sample_sensor_kit + * Removed common_awsim_sensor_launch + * Added a trailing break line + --------- +* feat: fix to be able to use nebula (`#19 `_) + * Merge https://github.com/knzo25/awsim_sensor_kit_launch/tree/test/awsim_nebula_integration + * Fixed some code + * Fixed order + * FIxed order + --------- +* Added autoware\_ prefix to gnss_poser (`#17 `_) +* Merge pull request `#16 `_ from knzo25/chore/imu_corrector_refactor + chore: changed the package name imu_corrector to autoware_imu_corrector +* chore: changed the package name imu_corrector to autoware_imu_corrector +* refactor: pointcloud_preprocessor prefix package and namespace with autoware (`#15 `_) +* fix: fix container name handling (`#14 `_) +* feat: always separate lidar preprocessing from pointcloud_container (`#13 `_) + * feat!: replace use_pointcloud_container + * revert: revert rename of use_pointcloud_container + * revert: fix comment + --------- +* rename lidar topic (`#12 `_) + Co-authored-by: yamato-ando +* Fixed gyro_bias_estimator input (`#11 `_) +* Added gyro_bias_estimator (`#10 `_) +* fix(pointcloud_preprocessor): organize input twist topic (`#8 `_) + * fix(pointcloud_preprocessor): organize input twist topic + * fix + --------- +* Merge pull request `#5 `_ from RobotecAI/feat/shorter_timeout + feat: shorten timeout for subscribing dummy lidar +* feat: shorten timeout for subscribing dummy lidar +* Merge pull request `#2 `_ from RobotecAI/chore/distortion_filter_false + chore(awsim_sensor_kit_launch): set use_distortion_corrector false +* chore(awsim_sensor_kit_launch): set use_distortion_corrector false +* Launchfiles cleanup +* AWSIM sensor kit +* Contributors: Amadeusz Szymko, Kenzo Lobos-Tsunekawa, Lukasz Chojnacki, Piotr Jaroszek, SakodaShintaro, Shintaro Sakoda, Shumpei Wakabayashi, TaikiYamada4, Yamato Ando, kminoda diff --git a/awsim_sensor_kit_launch/package.xml b/awsim_sensor_kit_launch/package.xml index f6988e0..59662ba 100644 --- a/awsim_sensor_kit_launch/package.xml +++ b/awsim_sensor_kit_launch/package.xml @@ -2,7 +2,7 @@ awsim_sensor_kit_launch - 0.1.0 + 0.39.0 The awsim_sensor_kit_launch package Piotr Jaroszek Apache License 2.0 From c2e35f64ed0fb21bacf5d0cc78d40b4d3cc2119c Mon Sep 17 00:00:00 2001 From: Ryohsuke Mitsudome Date: Wed, 12 Feb 2025 20:06:23 +0900 Subject: [PATCH 11/11] 0.41.0 --- awsim_sensor_kit_description/CHANGELOG.rst | 4 ++-- awsim_sensor_kit_description/package.xml | 2 +- awsim_sensor_kit_launch/CHANGELOG.rst | 4 ++-- awsim_sensor_kit_launch/package.xml | 2 +- 4 files changed, 6 insertions(+), 6 deletions(-) diff --git a/awsim_sensor_kit_description/CHANGELOG.rst b/awsim_sensor_kit_description/CHANGELOG.rst index 92981ae..b52ef97 100644 --- a/awsim_sensor_kit_description/CHANGELOG.rst +++ b/awsim_sensor_kit_description/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package awsim_sensor_kit_description ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.41.0 (2025-02-12) +------------------- 0.39.0 (2024-12-09) ------------------- diff --git a/awsim_sensor_kit_description/package.xml b/awsim_sensor_kit_description/package.xml index 6f1a102..b0b7e10 100644 --- a/awsim_sensor_kit_description/package.xml +++ b/awsim_sensor_kit_description/package.xml @@ -2,7 +2,7 @@ awsim_sensor_kit_description - 0.39.0 + 0.41.0 The awsim_sensor_kit_description package Piotr Jaroszek Apache License 2.0 diff --git a/awsim_sensor_kit_launch/CHANGELOG.rst b/awsim_sensor_kit_launch/CHANGELOG.rst index 1ffa788..2601650 100644 --- a/awsim_sensor_kit_launch/CHANGELOG.rst +++ b/awsim_sensor_kit_launch/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package awsim_sensor_kit_launch ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.41.0 (2025-02-12) +------------------- * Merge remote-tracking branch 'origin/main' into humble * Merge pull request `#26 `_ from SakodaShintaro/fix/add_udp_only fix: add `udp_only` diff --git a/awsim_sensor_kit_launch/package.xml b/awsim_sensor_kit_launch/package.xml index 59662ba..dd21746 100644 --- a/awsim_sensor_kit_launch/package.xml +++ b/awsim_sensor_kit_launch/package.xml @@ -2,7 +2,7 @@ awsim_sensor_kit_launch - 0.39.0 + 0.41.0 The awsim_sensor_kit_launch package Piotr Jaroszek Apache License 2.0