From 0d4ad9e87ee5ff9d117c2b7a17b0054a7e5f813b Mon Sep 17 00:00:00 2001 From: "takeshi.iwanari" Date: Fri, 28 Feb 2025 19:50:14 +0900 Subject: [PATCH] ci: update reference data using Autoware 0.41.2 Signed-off-by: takeshi.iwanari --- .github/workflows/test_autoware.yaml | 18 +-- compare/makereport_and_compare.sh | 16 +-- sample_autoware/README.md | 7 ++ sample_autoware/target_path.json | 33 ++---- sample_autoware/target_path_latest.json | 140 ------------------------ 5 files changed, 36 insertions(+), 178 deletions(-) delete mode 100644 sample_autoware/target_path_latest.json diff --git a/.github/workflows/test_autoware.yaml b/.github/workflows/test_autoware.yaml index eea10452..b6a4fff9 100644 --- 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: ${{ matrix.do_test }} run: | sudo apt-get install -y imagemagick - wget -v https://github.com/tier4/CARET_report/releases/download/20231114/report_session-20231114050140.zip - unzip report_session-20231114050140.zip - mv report_session-20231114050140 reference_result + wget -v https://github.com/tier4/CARET_report/releases/download/20250228/report_session-20250228193804.zip + unzip report_session-20250228193804.zip + mv report_session-20250228193804 reference_result export report_dir_1=`pwd`/reference_result - export report_dir_2=`pwd`/sample_autoware/output/report_session-20231114050140 + export report_dir_2=`pwd`/sample_autoware/output/report_session-20250228193804 sh `pwd`/compare/compare.sh diff --git a/compare/makereport_and_compare.sh b/compare/makereport_and_compare.sh index 7727dc9a..684d038f 100644 --- a/compare/makereport_and_compare.sh +++ b/compare/makereport_and_compare.sh @@ -18,16 +18,16 @@ mkdir "${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 index 3eafb5ae..d0f19ffc 100644 --- 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 index 22344f49..9be5a656 100644 --- a/sample_autoware/target_path.json +++ b/sample_autoware/target_path.json @@ -10,7 +10,7 @@ { "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 @@ -18,7 +18,7 @@ { "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 deleted file mode 100644 index dd8f5141..00000000 --- a/sample_autoware/target_path_latest.json +++ /dev/null @@ -1,140 +0,0 @@ -{ - "ignore_topic_list": ["/tf", "/tf_static", "/diagnostics"], - "ignore_node_list": [ - "/_ros2cli_/*", - "/launch_ros_*", - "/planning/scenario_planning/external_velocity_limit_selector", - "/control/shift_decider" - ], - "target_path_list": [ - { - "name": "component_sensing", - "path": [ - "/sensing/lidar/top/velodyne_driver_ros_wrapper_node", - "/sensing/lidar/concatenate_data" - ], - "include_first_callback": false - }, - { - "name": "component_localization", - "path": [ - "/sensing/lidar/concatenate_data", - "/localization/pose_twist_fusion_filter/stop_filter" - ], - "include_first_callback": false - }, - { - "name": "component_perception", - "path": [ - "/sensing/lidar/concatenate_data", - "/perception/object_recognition/detection/centerpoint/lidar_centerpoint", - "/perception/object_recognition/prediction/map_based_prediction" - ], - "include_first_callback": false - }, - { - "name": "component_perception(detection_lidar)", - "path": [ - "/sensing/lidar/concatenate_data", - "/perception/object_recognition/detection/centerpoint/lidar_centerpoint", - "/perception/object_recognition/tracking/multi_object_tracker" - ], - "include_first_callback": false - }, - { - "name": "component_perception(prediction)", - "path": [ - "/perception/object_recognition/tracking/multi_object_tracker", - "/perception/object_recognition/prediction/map_based_prediction" - ] - }, - { - "name": "component_planning", - "path": [ - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner", - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter", - "/planning/scenario_planning/scenario_selector", - "/planning/planning_validator" - ] - }, - { - "name": "component_control", - "path": [ - "/control/trajectory_follower/controller_node_exe", - ["/control/vehicle_cmd_gate", "/control/trajectory_follower/control_cmd"] - ] - }, - { - "name": "e2e_sensing-to-localization", - "path": [ - "/sensing/lidar/top/velodyne_driver_ros_wrapper_node", - "/localization/pose_estimator/ndt_scan_matcher", - "/localization/pose_twist_fusion_filter/stop_filter" - ], - "include_first_callback": false - }, - { - "name": "e2e_sensing-to-control", - "path_blocks": [ - [ - "/sensing/lidar/top/velodyne_driver_ros_wrapper_node", - "/perception/object_recognition/detection/centerpoint/lidar_centerpoint", - "/perception/object_recognition/prediction/map_based_prediction", - [ - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", - "/perception/object_recognition/objects" - ] - ], - [ - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner", - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter", - "/planning/scenario_planning/scenario_selector", - "/planning/planning_validator" - ], - [ - "/planning/planning_validator", - "/control/trajectory_follower/controller_node_exe", - ["/control/vehicle_cmd_gate", "/control/trajectory_follower/control_cmd"] - ] - ], - "include_first_callback": false - }, - { - "name": "e2e_sensing-to-perception", - "path": [ - "/sensing/lidar/top/velodyne_driver_ros_wrapper_node", - "/perception/object_recognition/detection/centerpoint/lidar_centerpoint", - "/perception/object_recognition/prediction/map_based_prediction" - ], - "include_first_callback": false - }, - { - "name": "e2e_sensing-to-perception(detection)", - "path": [ - "/sensing/lidar/top/velodyne_driver_ros_wrapper_node", - "/perception/object_recognition/detection/centerpoint/lidar_centerpoint", - "/perception/object_recognition/tracking/multi_object_tracker" - ], - "include_first_callback": false - }, - { - "name": "e2e_planning-to-control", - "path_blocks": [ - [ - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner", - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter", - "/planning/scenario_planning/scenario_selector", - "/planning/planning_validator" - ], - [ - "/planning/planning_validator", - "/control/trajectory_follower/controller_node_exe", - ["/control/vehicle_cmd_gate", "/control/trajectory_follower/control_cmd"] - ] - ] - } - ] -}