ci: update reference data using Autoware 0.41.2

Signed-off-by: takeshi.iwanari <take.iwiw2222@gmail.com>
tier4 · Feb 28, 2025 · 0d4ad9e · 0d4ad9e
1 parent 029ec88
commit 0d4ad9e
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Showing 5 changed files with 36 additions and 178 deletions.
diff --git a/.github/workflows/test_autoware.yaml b/.github/workflows/test_autoware.yaml
@@ -63,14 +63,14 @@ jobs:
         if: ${{ matrix.do_test }}
 
         run: |
-          wget -nv https://github.com/tier4/CARET_report/releases/download/20231114/session-20231114050140.tgz
-          tar xzvf session-20231114050140.tgz
+          wget -nv https://github.com/tier4/CARET_report/releases/download/20250228/session-20250228193804.tgz
+          tar xzvf session-20250228193804.tgz
 
       - name: Create CARET report
         if: ${{ matrix.do_test }}
         run: |
           script_path=`pwd`
-          trace_data=`pwd`/session-20231114050140
+          trace_data=`pwd`/session-20250228193804
           work_dir=`pwd`/sample_autoware
           report_store_dir="${work_dir}"
           export trace_data_name=`basename ${trace_data}`
@@ -107,16 +107,16 @@ jobs:
         if: ${{ matrix.do_test }}
         uses: actions/upload-artifact@v3
         with:
-          name: report_session-20231114050140
-          path: ./sample_autoware/output/report_session-20231114050140
+          name: report_session-20250228193804
+          path: ./sample_autoware/output/report_session-20250228193804
 
       - name: Compare report contents
         if: ${{ matrix.do_test }}
         run: |
           sudo apt-get install -y imagemagick
-          wget -v https://github.com/tier4/CARET_report/releases/download/20231114/report_session-20231114050140.zip
-          unzip report_session-20231114050140.zip
-          mv report_session-20231114050140 reference_result
+          wget -v https://github.com/tier4/CARET_report/releases/download/20250228/report_session-20250228193804.zip
+          unzip report_session-20250228193804.zip
+          mv report_session-20250228193804 reference_result
           export report_dir_1=`pwd`/reference_result
-          export report_dir_2=`pwd`/sample_autoware/output/report_session-20231114050140
+          export report_dir_2=`pwd`/sample_autoware/output/report_session-20250228193804
           sh `pwd`/compare/compare.sh
diff --git a/compare/makereport_and_compare.sh b/compare/makereport_and_compare.sh
@@ -18,16 +18,16 @@ mkdir "${work_dir}"
 cd "${work_dir}" || exit
 
 # Download trace data
-wget -nv https://github.com/tier4/caret_report/releases/download/20231114/session-20231114050140.tgz
-tar xzvf session-20231114050140.tgz
+wget -nv https://github.com/tier4/caret_report/releases/download/20250228/session-20250228193804.tgz
+tar xzvf session-20250228193804.tgz
 
 # Download reference data
-wget -v https://github.com/tier4/CARET_report/releases/download/20231114/report_session-20231114050140.zip
-unzip report_session-20231114050140.zip
-mv report_session-20231114050140 reference_result
+wget -v https://github.com/tier4/CARET_report/releases/download/20250228/report_session-20250228193804.zip
+unzip report_session-20250228193804.zip
+mv report_session-20250228193804 reference_result
 
 # Create report
-trace_data="$(pwd)"/session-20231114050140
+trace_data="$(pwd)"/session-20250228193804
 sample_autoware_dir="${script_path}"/sample_autoware
 start_strip=0
 end_strip=0
@@ -42,11 +42,11 @@ relpath_from_report_store_dir=false
 export trace_data start_strip end_strip sim_time component_list_json target_path_json max_node_depth timeout draw_all_message_flow report_store_dir relpath_from_report_store_dir
 cd "${sample_autoware_dir}" || exit
 sh "${script_path}"/report/report_analysis/make_report.sh
-mv output/report_session-20231114050140 "${work_dir}"/.
+mv output/report_session-20250228193804 "${work_dir}"/.
 
 # Compare result
 cd "${work_dir}" || exit
 report_dir_1=./reference_result
-report_dir_2=./report_session-20231114050140
+report_dir_2=./report_session-20250228193804
 export report_dir_1 report_dir_2
 sh "${script_path}"/compare/compare.sh
diff --git a/sample_autoware/README.md b/sample_autoware/README.md
@@ -65,6 +65,9 @@ WARNING : 2022-08-25 18:14:31 | The following packages have not been built using
   - Before running Autoware, some environmental settings need to be done like the following commands
   - Please modify map_path and rosbag file for your environment
   - Make sure that object detection works and path is created when you set a 2D Goal Pose, so that you can analyze end-to-end path later
+- Note (Added on 2025/02/28):
+  - To enable planning, control_mode needs to be set with the latest version. It required because the sample rosbag doesn't include that topic
+  - `ros2 topic pub /vehicle/status/control_mode autoware_vehicle_msgs/msg/ControlModeReport "mode: 0" --once`
 
 ### Copy topic filter
 
@@ -92,8 +95,12 @@ ros2 launch autoware_launch logging_simulator.launch.xml map_path:=$HOME/work/ro
 # on another terminal
 cd ${autoware_dir}
 source ./install/local_setup.bash
+ros2 topic pub /vehicle/status/control_mode autoware_vehicle_msgs/msg/ControlModeReport "mode: 0" --once
 ros2 bag play ~/work/rosbag_map/universe/sample-rosbag
 
+# on rviz
+# Set a 2D Goal Pose, and make sure trajectory is displayed
+
 # on another terminal
 source ${caret_dir}/install/local_setup.bash
 ros2 caret record -f 10000 --light

diff --git a/sample_autoware/target_path.json b/sample_autoware/target_path.json
@@ -10,15 +10,15 @@
     {
       "name": "component_sensing",
       "path": [
-        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/sensing/lidar/top/velodyne_ros_wrapper_node",
         "/sensing/lidar/concatenate_data"
       ],
       "include_first_callback": false
     },
     {
       "name": "component_localization",
       "path": [
-        "/sensing/lidar/top/ring_outlier_filter",
+        "/sensing/lidar/concatenate_data",
         "/localization/pose_twist_fusion_filter/stop_filter"
       ],
       "include_first_callback": false
@@ -51,12 +51,9 @@
     {
       "name": "component_planning",
       "path": [
-        [
-          "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
-          "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"
-        ],
+        ["/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"],
         "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner",
-        "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner",
+        "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner",
         "/planning/planning_validator"
       ]
     },
@@ -70,7 +67,7 @@
     {
       "name": "e2e_sensing-to-localization",
       "path": [
-        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/sensing/lidar/top/velodyne_ros_wrapper_node",
         "/localization/pose_estimator/ndt_scan_matcher",
         "/localization/pose_twist_fusion_filter/stop_filter"
       ],
@@ -80,7 +77,7 @@
       "name": "e2e_sensing-to-control",
       "path_blocks": [
         [
-          "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+          "/sensing/lidar/top/velodyne_ros_wrapper_node",
           "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
           "/perception/object_recognition/prediction/map_based_prediction",
           [
@@ -89,12 +86,9 @@
           ]
         ],
         [
-          [
-            "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
-            "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"
-          ],
+          ["/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"],
           "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner",
-          "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner",
+          "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner",
           "/planning/planning_validator"
         ],
         [
@@ -108,7 +102,7 @@
     {
       "name": "e2e_sensing-to-perception",
       "path": [
-        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/sensing/lidar/top/velodyne_ros_wrapper_node",
         "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
         "/perception/object_recognition/prediction/map_based_prediction"
       ],
@@ -117,7 +111,7 @@
     {
       "name": "e2e_sensing-to-perception(detection)",
       "path": [
-        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/sensing/lidar/top/velodyne_ros_wrapper_node",
         "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
         "/perception/object_recognition/tracking/multi_object_tracker"
       ],
@@ -127,12 +121,9 @@
       "name": "e2e_planning-to-control",
       "path_blocks": [
         [
-          [
-            "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
-            "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"
-          ],
+          ["/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", "/planning/scenario_planning/lane_driving/behavior_planning/path_with_lane_id"],
           "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner",
-          "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner",
+          "/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner",
           "/planning/planning_validator"
         ],
         [

diff --git a/sample_autoware/target_path_latest.json b/sample_autoware/target_path_latest.json