From 18b3df8cd6a3ee64d269e54ddd83d2f92a65af2c Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Thu, 20 Apr 2023 15:57:00 +0900 Subject: [PATCH] docs(readme): update architecture image (#10) * replace architecture image in README Signed-off-by: Kento Yabuuchi * update some images Signed-off-by: Kento Yabuuchi --------- Signed-off-by: Kento Yabuuchi --- localization/yabloc/README.md | 64 +++++++++++------- .../docs/how_to_launch_in_real.drawio.svg | 56 ++++++++------- .../how_to_launch_quick_start_demo.drawio.svg | 56 +++++++-------- .../docs/how_to_launch_with_rosbag.drawio.svg | 62 ++++++++--------- localization/yabloc/docs/node_diagram.png | Bin 93368 -> 0 bytes .../docs/yabloc_architecture.drawio.svg | 4 ++ 6 files changed, 127 insertions(+), 115 deletions(-) delete mode 100644 localization/yabloc/docs/node_diagram.png create mode 100644 localization/yabloc/docs/yabloc_architecture.drawio.svg diff --git a/localization/yabloc/README.md b/localization/yabloc/README.md index 36dfd33369116..256659686f65a 100644 --- a/localization/yabloc/README.md +++ b/localization/yabloc/README.md @@ -6,7 +6,13 @@ This has been developed as a new localization stack for [Autoware](https://githu ![thumbnail](docs/yabloc_thumbnail.jpg) -## Submodule +## Installation + +### Prerequisites + +**Supporting `Ubuntu 22.04` + `ROS2 humble` now.** + +### Submodules * [external/autoware_auto_msgs](https://github.com/tier4/autoware_auto_msgs) * [external/autoware_msgs](https://github.com/autowarefoundation/autoware_msgs.git) @@ -16,12 +22,7 @@ This has been developed as a new localization stack for [Autoware](https://githu **NOTE:** Currently, this software is assumed to be built in a separate workspace in order not to contaminate the autoware workspace. Someday this will be located in the workspace where Autoware blongs. These submodules will be removed at the time. -## How to build - -**Supporting `Ubuntu 22.04` + `ROS2 humble` now. -Some branches might support `ROS2 galactic`.** - -**NOTE:** Currently, this software is assumed to be built in a separate workspace in order not to contaminate the Autoware workspace. +### How to build ```shell mkdir yabloc_ws/src -p @@ -47,7 +48,7 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_E ## Quick Start Demo -ROSBAG made by AWSIM: [Google drive link](https://drive.google.com/drive/folders/1XVWfkDoz-0fncYC-_I6cmv1gkB6EfJ2Y?usp=share_link) +rosbag made by AWSIM: [Google drive link](https://drive.google.com/drive/folders/1XVWfkDoz-0fncYC-_I6cmv1gkB6EfJ2Y?usp=share_link) ![how_to_launch_with_rosbag](docs/how_to_launch_quick_start_demo.drawio.svg) @@ -61,11 +62,9 @@ ros2 bag play awsim_yabloc_rosbag_sample **NOTE:** `use_sim_time` is TRUE as default. -### Run with standard ROSBAG +### Run with rosbag -Sample data: [Google drive link](https://drive.google.com/drive/folders/1uNxQ2uPFEGbYXUODQMc7GRO5r9c3Fj6o?usp=share_link) - -The link contains *rosbag* and *lanelet2* but *pointcloud*. +
click to open
![how_to_launch_with_rosbag](docs/how_to_launch_with_rosbag.drawio.svg) @@ -80,16 +79,20 @@ ros2 launch autoware_launch logging_simulator.launch.xml \ planning:=false \ control:=false \ rviz:=false \ - vehicle_model:=jpntaxi \ - sensor_model:=aip_xx1 \ - vehicle_id:=5 \ + vehicle_model:=sample_vehicle \ + sensor_model:=sample_sensor_kit \ + vehicle_id:=default \ map_path:=$HOME/Maps/odaiba -ros2 bag play sample_odaiba --clock 100 +ros2 bag play your_rosbag --clock 100 ``` +
+ ### Run in real world +
click to open
+ ![how_to_launch_with_rosbag](docs/how_to_launch_in_real.drawio.svg) ```shell @@ -99,7 +102,11 @@ ros2 launch autoware_launch autoware.launch.xml \ rviz:=false ``` -### Run with AWSIM (UNDER CONSTRACTION) +
+ +### Run with [AWSIM](https://github.com/tier4/AWSIM) (UNDER CONSTRACTION) + +
click to open
**You have to change autoware.universe branch.** @@ -109,11 +116,13 @@ ros2 launch pcdless_launch rviz.launch.xml ros2 launch autoware_launch e2e_simulator.launch.xml ``` -## How to set initialpose +
+ +## How to set initial pose ### 1. When YabLoc works `standalone:=true`(default) (without Autoware's pose_initializer) -1. 2D Pose Estimate in Rviz +1. `2D Pose Estimate` in Rviz You can inidcate x, y and yaw manually in rviz. @@ -127,11 +136,11 @@ If doppler (`ublox_msgs/msg/navpvt`) is available and the vehicle moves enough f ## Architecture -![node_diagram](docs/node_diagram.png) +![node_diagram](docs/yabloc_architecture.drawio.svg) -### Input topics from sesnors +### Input topics -This localizer requires following topics to work. +from sesnors | topic name | msg type | description | | ---- | ---- | -- | @@ -142,8 +151,7 @@ This localizer requires following topics to work. | `/sensing/gnss/septentrio/poscovgeodetic` | `septentrio_gnss_driver_msgs/msg/PosCovGeodetic` | If you use Septentrio | | `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs/msg/VelocityReport` | | -### Input topics from autoware - +from autoware | topic name | msg type | description | | ---- | ---- | -- | | `/tf_static` | `tf2_msgs/msg/TFMessage` | published from `sensor_kit` | @@ -151,6 +159,8 @@ This localizer requires following topics to work. #### about tf_static +
click to open
+ Some nodes requires `/tf_static` from `/base_link` to the frame_id of `/sensing/camera/traffic_light/image_raw/compressed` (e.g. `/traffic_light_left_camera/camera_optical_link`). You can verify that the tf_static is correct with the following command. @@ -171,7 +181,9 @@ ros2 run tf2_ros static_transform_publisher \ --yaw -1.570 ``` -### Output +
+ +### Output topics | topic name | msg type | description | | ---- | ---- | -- | @@ -184,7 +196,7 @@ ros2 run tf2_ros static_transform_publisher \ ## Visualization -(This project contains original rviz plugins.) +This project contains original rviz plugins. [rviz2_overlay_plugins](./rviz2_plugins/rviz2_overlay_plugins/README.md) ![rviz](docs/rviz_description.png) diff --git a/localization/yabloc/docs/how_to_launch_in_real.drawio.svg b/localization/yabloc/docs/how_to_launch_in_real.drawio.svg index fe94cb2c955f4..88101534b7f98 100644 --- a/localization/yabloc/docs/how_to_launch_in_real.drawio.svg +++ b/localization/yabloc/docs/how_to_launch_in_real.drawio.svg @@ -1,4 +1,4 @@ - + @@ -39,8 +39,8 @@ - - + + @@ -54,7 +54,7 @@ - + /map/vector_map @@ -76,8 +76,8 @@ - - + + @@ -117,7 +117,7 @@ - + @@ -135,8 +135,8 @@ - - + + @@ -184,7 +184,7 @@ - + @@ -219,8 +219,8 @@ - - + + @@ -256,12 +256,12 @@ - + -
+
/sensing/gnss/ublox/navpvt @@ -269,7 +269,7 @@
- + /sensing/gnss/ublox/navpvt @@ -296,7 +296,7 @@ -
+
/vehicle/status/velocity_state @@ -304,7 +304,7 @@
- + /vehicle/status/velocity_state @@ -326,8 +326,8 @@ - - + + @@ -348,7 +348,7 @@ -
+
@@ -358,7 +358,7 @@
- + RViz @@ -395,22 +395,22 @@
- /localization/pf/particle_pose + /localization/pf/pose
- /localization/pf/particle_pose + /localization/pf/pose - + -
+
/localization/varidation/overlay_image @@ -423,7 +423,7 @@ - + @@ -434,8 +434,6 @@
- 【pilot-auto.xx1】 -
ros2 launch autoware_launch autoware.launch.xml \
@@ -448,7 +446,7 @@
- 【pilot-auto.xx1】... + ros2 launch autoware_launch autoware.launch.xml \...
diff --git a/localization/yabloc/docs/how_to_launch_quick_start_demo.drawio.svg b/localization/yabloc/docs/how_to_launch_quick_start_demo.drawio.svg index f6f4375c2ad50..3083a7335f7da 100644 --- a/localization/yabloc/docs/how_to_launch_quick_start_demo.drawio.svg +++ b/localization/yabloc/docs/how_to_launch_quick_start_demo.drawio.svg @@ -1,4 +1,4 @@ - + @@ -35,7 +35,7 @@
- + /map/vector_map @@ -57,12 +57,12 @@ - + -
+
@@ -76,7 +76,7 @@
- + /static_tf... @@ -98,12 +98,12 @@ - + -
+
/tf (map->base_link) @@ -111,13 +111,13 @@
- + /tf (map->base_link) - - + + @@ -196,7 +196,7 @@ - + @@ -303,8 +303,8 @@ - - + + @@ -325,7 +325,7 @@ -
+
@@ -335,7 +335,7 @@
- + RViz @@ -369,25 +369,25 @@ -
+
- /localization/pf/particle_pose + /localization/pf/pose
- - /localization/pf/particle_pose + + /localization/pf/pose - + -
+
/localization/varidation/overlay_image @@ -395,22 +395,22 @@
- + /localization/varidation/overlay_image - - - + + + -
+
-
-
+
+
ros2 bag play awsim_yabloc_rosbag diff --git a/localization/yabloc/docs/how_to_launch_with_rosbag.drawio.svg b/localization/yabloc/docs/how_to_launch_with_rosbag.drawio.svg index 9b7de18a16ad8..7fb1578c75e48 100644 --- a/localization/yabloc/docs/how_to_launch_with_rosbag.drawio.svg +++ b/localization/yabloc/docs/how_to_launch_with_rosbag.drawio.svg @@ -1,4 +1,4 @@ - + @@ -39,8 +39,8 @@ - - + + @@ -54,7 +54,7 @@ - + /map/vector_map @@ -76,8 +76,8 @@ - - + + @@ -117,8 +117,8 @@ - - + + @@ -130,13 +130,13 @@ - + /tf (map->base_link) - - + + @@ -180,7 +180,7 @@ - + @@ -215,7 +215,7 @@ - + @@ -252,8 +252,8 @@ - - + + @@ -292,7 +292,7 @@ -
+
/vehicle/status/velocity_state @@ -300,7 +300,7 @@
- + /vehicle/status/velocity_state @@ -322,8 +322,8 @@ - - + + @@ -357,8 +357,8 @@ - - + + @@ -379,7 +379,7 @@ -
+
@@ -389,7 +389,7 @@
- + RViz @@ -423,25 +423,25 @@ -
+
- /localization/pf/particle_pose + /localization/pf/pose
- - /localization/pf/particle_pose + + /localization/pf/pose - + -
+
/localization/varidation/overlay_image @@ -546,8 +546,6 @@
- 【pilot-auto.xx1】 -
ros2 launch autoware_launch logging_simulator.launch.xml \
@@ -600,7 +598,7 @@
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vehicle
twist
vehicle...
gnss
gnss
IMU
IMU
Image
Image
Camera
info
Camera...
lanelet2
lanelet2
gnss based initializer
gnss based initial...
/localization/twist/
kalman/twist
/localization/twist/...
twist/kalman/
twist_estimator
twist/kalman/...
initial pose
initial pose
twist
twist
resized
image
resized...
resized camera info
resized camera i...
height and tilt
height and tilt
lanelet2 line segment
lanelet2 line se...
imgproc/undistort
imgproc/undistort
map/ground_server
map/ground_server
map/ll2_decompose
map/ll2_decompose
pf/
predictor_node
pf/...
pf/
gnss_particle_corrector
pf/...
pf/
camera_corrector
pf/...
imgproc/
segment_filter
imgproc/...
imgproc/
graph_segment
imgproc/...
imgproc/lsd
imgproc/lsd
predicted
particles
predicted...
weighted
particles
weighted...
pose
pose
classified line segment
classified line...
line segment
line segment
road surface segment
road surface seg...
/localization/map/height
/localizati...
/sensing/camera/undistorted/image_raw
/sensing/ca...
/sensing/camera/
undistorted/camera_info
/sensing/ca...
/localization/imgproc/
projected_lsd_cloud
/localizati...
/localization/imgproc/segmented_image?
/localizati...
/localization/imgproc/lsd_cloud
/localizati...
/localization/pf/predicted_particles
/localizati...
/localization/pf/weighted_particles
/localizati...
/localization/map/ll2_bounding_box
/localization/map/ll2_road_marking
/localizati...
/localization/pf/pose
/localizati...
/imgproc
/imgproc
/map
/map
/pf
/pf
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