feat: add gnss/imu localizer #200

rsasaki0109 · 2023-02-08T23:16:37Z

Description

This is the PR for integrating GNSS/IMU localizar discussed in the discussion below.
https://github.com/orgs/autowarefoundation/discussions/3257

~~Add GNSS/IMU localizar parameter files for sample data.~~
~~Introduce ~~localization_mode~~pose_estimator_mode(lidar, gnss) parameter in autoware.launch.xml to switch between lidar localization and gnss localization.~~
~~In gnss mode, pose is estimated by gnss instead of ndt.~~
~~You can change the input topic in autoware_launch/config/localization/eagleye_config.param.yaml.~~
~~Ensure that sytetem-related parameters are also switched according to the switch between LiDAR/GNSS localization.~~

The above conditional branching for each pose estimator and twist estimator within the tier4_localization_launch package is complex and has been changed.
Instead, we decided to create map4_localization_launch.xml in autoware_launch and introduce the pose_estimator_mode parameter in it and switch the pose estimator with that parameter.
A discussion on this is provided below.

autoware.universe PR
feat: add gnss/imu localizer autoware.universe#3063 (comment)
(This is a private social networking site for the TIEV IV group.)
https://map4-inc.slack.com/archives/CEL0DR2S2/p1680144103464929?thread_ts=1680143206.632879&cid=CEL0DR2S2

pose_estimator_mode in map4_localization_launch.xml	twist estimator	pose estimator
ndt	eagleye_rt(gyro/odom/gnss fusion)	ndt
gnss	eagleye_rt(gyro/odom/gnss fusion)	eagleye_rt(gyro/odom/gnss fusion)

Tests performed

Localizaiton methods are expected to work as normal, even if they change.

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Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

This reverts commit 46cd907. Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

rsasaki0109 · 2023-02-09T09:13:29Z

I don't know why pre-commit.ci is an error, can the reviewer figure it out?
I did Format Document with prettier.

xmfcx · 2023-02-09T11:26:14Z

I don't know why pre-commit.ci is an error, can the reviewer figure it out? I did Format Document with prettier.

https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/working-with-forks/allowing-changes-to-a-pull-request-branch-created-from-a-fork

If you have the option, could you check Allow edits from maintainers. on the right in this PR? I'll try to help.

rsasaki0109 · 2023-02-09T12:38:40Z

@xmfcx
Perhaps because I forked the repository to my company account, I don't seem to have the authority to allow you to edit it.

@kitsukawa
If it's Kitsukawa-san's authority, can we make it so that the maintainer can allow edits?

xmfcx · 2023-02-09T12:44:29Z

Can you rebase this branch to main branch with following commands:

cd ~/autoware/src/launcher/autoware_launch/
git checkout feat/add_gnss_imu_localizar
git rebase main
git push

This might fix the pre-commit, I've merged some PRs to upgrade it.

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

* fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

* update parameter (autowarefoundation#169) * Port pure pursuit (autowarefoundation#166) * Fix control.launch.py * Apply pre-commit * Fix control.launch.py * Change debug topic name in rviz setting * fix typo in localization util.launch.py (autowarefoundation#168) * Feature/add covarinace param (autowarefoundation#170) * add covariance param * add description * remove unused param (autowarefoundation#172) * Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (autowarefoundation#174) * Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0 Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0. - [Release notes](https://github.com/streetsidesoftware/cspell-action/releases) - [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md) - [Commits](streetsidesoftware/cspell-action@v1.3.4...v1.5.0) --- updated-dependencies: - dependency-name: streetsidesoftware/cspell-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> * Update spell_check_pr.yml Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: fix hdd_monitor param (autowarefoundation#173) * add rosbridge launch (autowarefoundation#175) * add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (autowarefoundation#177) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * ci: update CI settings (autowarefoundation#176) * ci(pre-commit): update .pre-commit-config.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci: add sync-files.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove old workflows Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(sync-upstream): update sync-upstream.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(pre-commit): autofix * style: fix for yamllint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: minor update CI settings (autowarefoundation#179) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * [pre-commit.ci] pre-commit autoupdate (autowarefoundation#178) updates: - [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](pre-commit/pre-commit-hooks@v4.0.1...v4.1.0) - [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](igorshubovych/markdownlint-cli@v0.29.0...v0.30.0) - [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](pre-commit/mirrors-prettier@v2.4.1...v2.5.1) - [github.com/pycqa/isort: 5.9.3 → 5.10.1](PyCQA/isort@5.9.3...5.10.1) - [github.com/psf/black: 21.9b0 → 22.1.0](psf/black@21.9b0...22.1.0) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: fix CI settings (autowarefoundation#182) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: sync files (autowarefoundation#180) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (autowarefoundation#184) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: add paricle param (autowarefoundation#181) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * chore: sync files (autowarefoundation#185) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * Update sync-files.yaml Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (autowarefoundation#186) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync system config (autowarefoundation#187) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (autowarefoundation#189) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: wep21 <wep21@users.noreply.github.com> * chore: replace system config in system launch (autowarefoundation#188) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * feat: adds additional configuration flags for behavior_path_planner (autowarefoundation#171) * feat: adds additional configuration flags for behavior_path_planner The additional configuration is used to allows avoidance over lane with same and different direction, as well as allows safety margin between linestring and ego. This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496 port. Related PR: autowarefoundation/autoware.universe#285 autowarefoundation/autoware.universe#287 Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Change lateral_collision_margion to 1.0 to reflect changes. The decision to change the parameter value to 1.0 is made after performing drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting between planning control team on 3rd of February 2022. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: slightly increase the safety buffer. This increases the shift length to 1.7 + 0.5 * vehicle width. The decision to increase is based on the discussion between planning team and also the advice from the FI team. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat(behavior_velocity): add path marker visualization (autowarefoundation#190) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore: sync files (autowarefoundation#193) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (autowarefoundation#194) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * chore: update workflow files name Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> * chore: sync files (autowarefoundation#195) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> * feat: lateral controller param (autowarefoundation#191) * feat: define lat_controller_param_path * feat: change for trajectory_follower params * add args for lat_controller_param_path * chore: fix wrong essential param to optional (autowarefoundation#197) * fix wrong param line * move pointcloud_container_name param to optional * fix: typo extra `>` (autowarefoundation#199) * Chore arrange perception rviz topics (autowarefoundation#196) * feat(autoware_launch): add occupancy grid vizualization Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(autoware_launch): add object recognition namespace to rviz Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix: delete unused in control_launch (autowarefoundation#200) * fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml * feat: add system_monitor parameters in sync-files (autowarefoundation#201) * chore: sync files (autowarefoundation#202) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> * chore: sync files (autowarefoundation#203) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: update settings of sync-files (autowarefoundation#204) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat(control_launch): remove unnecessary params (autowarefoundation#206) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (autowarefoundation#208) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat(atutoware.rviz): disable selectable for pointcloud visualization (autowarefoundation#207) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * chore: sync files (autowarefoundation#212) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * delete vehicle parameters in longitudinal_controller.param.yaml * apply pre-commit * remove unused file * update sync-param-files.yaml * disable local_external_control in system_error_montitor_psim Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: yabuta <makoto.yabuta@tier4.jp> Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: wep21 <wep21@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

…onitor Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

kminoda

LGTM

rsasaki0109 · 2023-04-24T05:33:49Z

@yukkysaito @mitsudome-r (@YamatoAndo )
Please also check the PR regarding Eagleye here.

Yabuuchi-san has already verified the operation of this PR on the TIER IV side.
autowarefoundation/autoware.universe#3063 (review)

yukkysaito

LGTM

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com>

rsasaki0109 mentioned this pull request Feb 9, 2023

feat: add gnss/imu localizer autowarefoundation/autoware.universe#2848

Closed

4 tasks

rsasaki0109 changed the title ~~Feat/add gnss imu localizar~~ feat(localization): add gnss/imu localizar Feb 9, 2023

rsasaki0109 changed the title ~~feat(localization): add gnss/imu localizar~~ feat(gnss localization): add gnss/imu localizar Feb 9, 2023

rsasaki0109 mentioned this pull request Feb 9, 2023

feat(words): add the words eagleye and rtklib tier4/autoware-spell-check-dict#476

Merged

rsasaki0109 added 12 commits February 9, 2023 18:04

Add gnss_imu_localizar

eed8278

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Eagleye parameter update fot sample data

df1e551

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Restore perception/planning/control parameters in lsim

db8936b

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Change use_gnss_mode

168c0be

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix spell

719c4c0

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix spell

8bb9611

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Delete unnecessary white spaces

0b438d3

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Remove unnecessary trailing spaces

f6512e5

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Prettier format

6460bd5

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

prettier format

1ff0c14

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

clang-format

476d86d

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Revert "clang-format"

d9e9ad2

This reverts commit 46cd907. Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

rsasaki0109 marked this pull request as ready for review February 9, 2023 09:22

rsasaki0109 mentioned this pull request Feb 9, 2023

feat(repos): add gnss/imu localizer autowarefoundation/autoware#3261

Merged

4 tasks

yukkysaito requested review from xmfcx, yukkysaito, kenji-miyake, mitsudome-r and kminoda February 9, 2023 09:34

xmfcx changed the title ~~feat(gnss localization): add gnss/imu localizar~~ feat: add gnss/imu localizer Feb 9, 2023

Rename GNSS/Lidar localization switching parameters

3f04a9d

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

purewater0901 pushed a commit that referenced this pull request Feb 28, 2023

fix: delete unused in control_launch (#200)

e0eba25

* fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml

rsasaki0109 added 2 commits March 7, 2023 06:04

resolve conflicts

0cfbd46

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Merge branch 'main' into feat/add_gnss_imu_localizar

09f74a5

rsasaki0109 mentioned this pull request Mar 13, 2023

feat: add gnss/imu localizer autowarefoundation/autoware.universe#3063

Merged

4 tasks

rsasaki0109 and others added 7 commits March 26, 2023 09:43

Remove conditional branching by pose_estimatar_mode in system_error_m…

3294c2b

…onitor Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Merge branch 'main' into feat/add_gnss_imu_localizar

20bf931

Change launch directory structure

37402f9

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Delete unnecessary parameters and files

3f28f65

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Integrate map4_localization_component1,2

1ae64c0

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix comment out in localization launch

53e200e

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Merge branch 'main' into feat/add_gnss_imu_localizar

8db85c9

kminoda approved these changes Apr 21, 2023

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yukkysaito approved these changes Apr 24, 2023

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kminoda merged commit 61ba0b4 into autowarefoundation:main Apr 26, 2023

This was referenced Apr 26, 2023

chore: sync awf/autoware_launch tier4/autoware_launch#84

Merged

chore: sync awf-latest-x1 tier4/autoware_launch#79

Merged

chore: sync awf-latest-x2 tier4/autoware_launch#85

Merged

chore: sync awf-latest-xx1 tier4/autoware_launch#86

Merged

tkimura4 pushed a commit to tkimura4/autoware_launch that referenced this pull request Sep 8, 2023

chore: sync files (autowarefoundation#200)

de6c6f0

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: shmpwk <shmpwk@users.noreply.github.com>

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