Auto/launcher ground segmentation (autowarefoundation#117)

* add base line launch

* add ground_segmentation launcher

* run pre-commit

* clean up

* fix coding style

* fix topic name

* fix yaml params

* fix loader name

* rename components

* improve implementation

autoware_launch/launch/autoware.launch.xml

@@ -48,6 +48,8 @@
   <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml">
     <!-- options for mode: camera_lidar_fusion, lidar, camera -->
     <arg name="mode" value="camera_lidar_fusion" />
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
   </include>
 
   <!-- Planning -->

autoware_launch/launch/logging_simulator.launch.xml

@@ -74,6 +74,8 @@
     <include file="$(find-pkg-share perception_launch)/launch/perception.launch.xml" if="$(var perception)">
       <!-- options for mode: camera_lidar_fusion, lidar, camera -->
       <arg name="mode" value="camera_lidar_fusion" />
+      <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+      <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>
 

perception_launch/config/object_segmentation/ground_segmentation/aip_x2_perception.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    additional_lidars: ["front_upper", "front_lower"]

perception_launch/config/object_segmentation/ground_segmentation/aip_xx1_perception.param.yaml

@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    additional_lidars: []

perception_launch/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py

@@ -0,0 +1,280 @@
+# Copyright 2020 Tier IV, Inc. All rights reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import launch
+from launch.actions import DeclareLaunchArgument
+from launch.actions import IncludeLaunchDescription
+from launch.actions import OpaqueFunction
+from launch.actions import SetLaunchConfiguration
+from launch.conditions import IfCondition
+from launch.conditions import UnlessCondition
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.actions import LoadComposableNodes
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+import yaml
+
+
+def get_vehicle_info(context):
+    path = LaunchConfiguration("vehicle_param_file").perform(context)
+    with open(path, "r") as f:
+        p = yaml.safe_load(f)["/**"]["ros__parameters"]
+    p["vehicle_length"] = p["front_overhang"] + p["wheel_base"] + p["rear_overhang"]
+    p["vehicle_width"] = p["wheel_tread"] + p["left_overhang"] + p["right_overhang"]
+    p["min_longitudinal_offset"] = -p["rear_overhang"]
+    p["max_longitudinal_offset"] = p["front_overhang"] + p["wheel_base"]
+    p["min_lateral_offset"] = -(p["wheel_tread"] / 2.0 + p["right_overhang"])
+    p["max_lateral_offset"] = p["wheel_tread"] / 2.0 + p["left_overhang"]
+    p["min_height_offset"] = 0.0
+    p["max_height_offset"] = p["vehicle_height"]
+    return p
+
+
+def get_vehicle_mirror_info(context):
+    path = LaunchConfiguration("vehicle_mirror_param_file").perform(context)
+    with open(path, "r") as f:
+        p = yaml.safe_load(f)
+    return p
+
+
+def create_additional_pipeline(vehicle_info, lidar_name):
+    crop_box_filter_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        name=f"{lidar_name}_crop_box_filter",
+        remappings=[
+            ("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"),
+            ("output", f"{lidar_name}/measurement_range_cropped/pointcloud"),
+        ],
+        parameters=[
+            {
+                "input_frame": LaunchConfiguration("base_frame"),
+                "output_frame": LaunchConfiguration("base_frame"),
+                "min_x": -50.0,
+                "max_x": 100.0,
+                "min_y": -50.0,
+                "max_y": 50.0,
+                "min_z": vehicle_info["min_height_offset"],
+                "max_z": vehicle_info["max_height_offset"],
+                "negative": False,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    ground_filter_component = ComposableNode(
+        package="ground_segmentation",
+        plugin="ground_segmentation::ScanGroundFilterComponent",
+        name=f"{lidar_name}_scan_ground_filter",
+        remappings=[
+            ("input", f"{lidar_name}/measurement_range_cropped/pointcloud"),
+            ("output", f"{lidar_name}/no_ground/pointcloud"),
+        ],
+        parameters=[
+            {
+                "global_slope_max_angle_deg": 10.0,
+                "local_slope_max_angle_deg": 30.0,
+                "split_points_distance_tolerance": 0.1,
+                "split_height_distance": 0.05,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    return [crop_box_filter_component, ground_filter_component]
+
+
+def launch_setup(context, *args, **kwargs):
+
+    vehicle_info = get_vehicle_info(context)
+
+    path = LaunchConfiguration("perception_config_file").perform(context)
+    with open(path, "r") as f:
+        pipeline_param = yaml.safe_load(f)["/**"]["ros__parameters"]
+
+    additional_pipeline_components = []
+    for lidar_name in pipeline_param["additional_lidars"]:
+        additional_pipeline_components.extend(create_additional_pipeline(vehicle_info, lidar_name))
+
+    crop_box_filter_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::CropBoxFilterComponent",
+        name="crop_box_filter",
+        remappings=[
+            ("input", "/sensing/lidar/concatenated/pointcloud"),
+            ("output", "measurement_range_cropped/pointcloud"),
+        ],
+        parameters=[
+            {
+                "input_frame": LaunchConfiguration("base_frame"),
+                "output_frame": LaunchConfiguration("base_frame"),
+                "min_x": -50.0,
+                "max_x": 100.0,
+                "min_y": -50.0,
+                "max_y": 50.0,
+                "min_z": vehicle_info["min_height_offset"],
+                "max_z": vehicle_info["max_height_offset"],
+                "negative": False,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    ground_filter_component = ComposableNode(
+        package="ground_segmentation",
+        plugin="ground_segmentation::ScanGroundFilterComponent",
+        name="scan_ground_filter",
+        remappings=[
+            ("input", "measurement_range_cropped/pointcloud"),
+            ("output", "no_ground/pointcloud"),
+        ],
+        parameters=[
+            {
+                "global_slope_max_angle_deg": 10.0,
+                "local_slope_max_angle_deg": 30.0,
+                "split_points_distance_tolerance": 0.2,
+                "split_height_distance": 0.2,
+                "use_virtual_ground_point": False,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    ground_concat_topics = ["no_ground/pointcloud"]
+    for lidar_name in pipeline_param["additional_lidars"]:
+        ground_concat_topics.extend([f"{lidar_name}/no_ground/pointcloud"])
+
+    concat_data_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent",
+        name="concatenate_data",
+        remappings=[("output", "no_ground/oneshot/pointcloud")],
+        parameters=[
+            {
+                "input_topics": ground_concat_topics,
+                "output_frame": LaunchConfiguration("base_frame"),
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    laserscan_to_occupancy_grid_map_loader = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                FindPackageShare("laserscan_to_occupancy_grid_map"),
+                "/launch/laserscan_to_occupancy_grid_map.launch.py",
+            ]
+        ),
+        launch_arguments={
+            "container": "/perception/object_segmentation/ground_segmentation/perception_pipeline_container",
+            "input/obstacle_pointcloud": "no_ground/oneshot/pointcloud"
+            if bool(pipeline_param["additional_lidars"])
+            else "no_ground/pointcloud",
+            "input/raw_pointcloud": "/sensing/lidar/concatenated/pointcloud",
+            "output": "occupancy_grid",
+            "use_intra_process": LaunchConfiguration("use_intra_process"),
+        }.items(),
+    )
+
+    occupancy_grid_map_outlier_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::OccupancyGridMapOutlierFilterComponent",
+        name="occupancy_grid_map_outlier_filter",
+        remappings=[
+            ("~/input/occupancy_grid_map", "occupancy_grid"),
+            (
+                "~/input/pointcloud",
+                "no_ground/oneshot/pointcloud"
+                if bool(pipeline_param["additional_lidars"])
+                else "no_ground/pointcloud",
+            ),
+            ("~/output/pointcloud", "/perception/object_segmentation/pointcloud"),
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    # set container to run all required components in the same process
+    container = ComposableNodeContainer(
+        name="perception_pipeline_container",
+        namespace="",
+        package="rclcpp_components",
+        executable=LaunchConfiguration("container_executable"),
+        composable_node_descriptions=[
+            crop_box_filter_component,
+            ground_filter_component,
+            occupancy_grid_map_outlier_component,
+        ],
+        output="screen",
+    )
+
+    additional_pipeline_loader = LoadComposableNodes(
+        composable_node_descriptions=additional_pipeline_components,
+        target_container=container,
+        condition=IfCondition(
+            LaunchConfiguration(
+                "use_additional_pipeline", default=bool(pipeline_param["additional_lidars"])
+            )
+        ),
+    )
+
+    concat_data_component_loader = LoadComposableNodes(
+        composable_node_descriptions=[concat_data_component],
+        target_container=container,
+        condition=IfCondition(
+            LaunchConfiguration(
+                "use_additional_pipeline", default=bool(pipeline_param["additional_lidars"])
+            )
+        ),
+    )
+
+    return [
+        container,
+        additional_pipeline_loader,
+        concat_data_component_loader,
+        laserscan_to_occupancy_grid_map_loader,
+    ]
+
+
+def generate_launch_description():
+
+    launch_arguments = []
+
+    def add_launch_arg(name: str, default_value=None):
+        launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value))
+
+    add_launch_arg("base_frame", "base_link")
+    add_launch_arg("vehicle_param_file")
+    add_launch_arg("perception_config_file")
+    add_launch_arg("use_multithread", "False")
+    add_launch_arg("use_intra_process", "True")
+
+    set_container_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container",
+        condition=UnlessCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    set_container_mt_executable = SetLaunchConfiguration(
+        "container_executable",
+        "component_container_mt",
+        condition=IfCondition(LaunchConfiguration("use_multithread")),
+    )
+
+    return launch.LaunchDescription(
+        launch_arguments
+        + [set_container_executable, set_container_mt_executable]
+        + [OpaqueFunction(function=launch_setup)]
+    )

perception_launch/launch/perception.launch.xml

@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 
 <launch>
+  <arg name="vehicle_param_file" />
+  <arg name="sensor_model" />
   <!-- common parameters -->
   <arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_fusion`, `lidar` or `camera`"/>
   <arg name="image_raw0" default="/sensing/camera/camera0/image_rect_color" description="image raw topic name"/>
@@ -27,6 +29,22 @@
   <group>
     <push-ros-namespace namespace="perception"/>
 
+    <!-- object segmentation module -->
+    <group>
+      <push-ros-namespace namespace="object_segmentation"/>
+      <!-- ground segmentation module -->
+      <group>
+        <push-ros-namespace namespace="ground_segmentation"/>
+        <include file="$(find-pkg-share perception_launch)/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py">
+          <arg name="base_frame" value="base_link" />
+          <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+          <arg name="use_intra_process" value="true" />
+          <arg name="use_multithread" value="true" />
+          <arg name="perception_config_file" value="$(find-pkg-share perception_launch)/config/object_segmentation/ground_segmentation/$(var sensor_model)_perception.param.yaml"/>
+        </include>
+      </group>
+    </group>
+
     <!-- object recognition module -->
     <group unless="$(var use_empty_dynamic_object_publisher)">
       <push-ros-namespace namespace="object_recognition"/>