From eed8278c55c5d416dd40c051ad12305462dfc41f Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Wed, 8 Feb 2023 06:08:19 +0900 Subject: [PATCH 01/18] Add gnss_imu_localizar Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 174 ++++++++++++++++++ .../localization_gnss_loc.param.yaml | 31 ++++ .../localization_lidar_loc.param.yaml | 31 ++++ .../system_error_monitor_gnss_loc.param.yaml | 52 ++++++ ...system_error_monitor_lidar_loc.param.yaml} | 0 autoware_launch/launch/autoware.launch.xml | 4 + .../tier4_localization_component.launch.xml | 3 + .../tier4_system_component.launch.xml | 13 +- .../launch/logging_simulator.launch.xml | 6 +- 9 files changed, 308 insertions(+), 6 deletions(-) create mode 100644 autoware_launch/config/localization/eagleye_config.param.yaml create mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml create mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_lidar_loc.param.yaml create mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml rename autoware_launch/config/system/system_error_monitor/{system_error_monitor.param.yaml => system_error_monitor_lidar_loc.param.yaml} (100%) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml new file mode 100644 index 0000000000..60465e3842 --- /dev/null +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -0,0 +1,174 @@ +/**: #GNSS cycle 5Hz, IMU cycle 50Hz. + ros__parameters: + # Estimate mode + use_gnss_mode: RTKLIB + use_canless_mode: false + + # Topic + twist: + twist_type: 1 # TwistStamped : 0, TwistWithCovarianceStamped: 1 + twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance + imu_topic: /sensing/imu/tamagawa/imu_raw + gnss: + velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 + velocity_source_topic: /sensing/gnss/ublox/navpvt + llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 + llh_source_topic: /sensing/gnss/ublox/nav_sat_fix + + # TF + tf_gnss_frame: + parent: "base_link" + child: "gnss_link" + + # Origin of GNSS coordinates (ECEF to ENU) + ecef_base_pos: + x : 0.0 + y : 0.0 + z : 0.0 + use_ecef_base_position : false + + reverse_imu_wz: false + + # Eagleye Navigation Parameters + # Basic Navigation Functions + common: + imu_rate: 50 + gnss_rate: 5 + stop_judgment_threshold: 0.01 + slow_judgment_threshold: 0.278 + moving_judgment_threshold: 2.78 + + velocity_scale_factor: + estimated_minimum_interval: 20 + estimated_maximum_interval: 400 + gnss_receiving_threshold: 0.25 + velocity_scale_factor_save_str: /config/velocity_scale_factor.txt + save_velocity_scale_factor: false + velocity_scale_factor_save_duration: 100.0 + th_velocity_scale_factor_percent: 10.0 + + yawrate_offset_stop: + estimated_interval: 4 + outlier_threshold: 0.002 + + yawrate_offset: + estimated_minimum_interval: 30 + gnss_receiving_threshold: 0.25 + outlier_threshold: 0.002 + 1st: + estimated_maximum_interval: 300 + 2nd: + estimated_maximum_interval: 500 + + heading: + estimated_minimum_interval: 10 + estimated_maximum_interval: 30 + gnss_receiving_threshold: 0.25 + outlier_threshold: 0.0524 + outlier_ratio_threshold: 0.5 + curve_judgment_threshold: 0.0873 + init_STD: 0.0035 #[rad] (= 0.2 [deg]) + + heading_interpolate: + sync_search_period: 2 + proc_noise: 0.0005 #[rad] (= 0.03 [deg]) + + slip_angle: + manual_coefficient: 0.0 + + slip_coefficient: + estimated_minimum_interval: 2 + estimated_maximum_interval: 100 + curve_judgment_threshold: 0.017453 + lever_arm: 0.0 + + rolling: + filter_process_noise: 0.01 + filter_observation_noise: 1 + + trajectory: + curve_judgment_threshold: 0.017453 + timer_updata_rate: 10 + deadlock_threshold: 1 + sensor_noise_velocity: 0.05 + sensor_scale_noise_velocity: 0.02 + sensor_noise_yawrate: 0.01 + sensor_bias_noise_yawrate: 0.1 + + smoothing: + moving_average_time: 3 + moving_ratio_threshold: 0.1 + + height: + estimated_minimum_interval: 200 + estimated_maximum_interval: 2000 + update_distance: 0.1 + gnss_receiving_threshold: 0.1 + outlier_threshold: 0.3 + outlier_ratio_threshold: 0.5 + moving_average_time: 1 + + position: + estimated_interval: 300 + update_distance: 0.1 + outlier_threshold: 3.0 + gnss_receiving_threshold: 0.25 + outlier_ratio_threshold: 0.5 + + position_interpolate: + sync_search_period: 2 + + monitor: + print_status: true + log_output_status: false + use_compare_yawrate: false + comparison_twist_topic: /calculated_twist + th_diff_rad_per_sec: 0.17453 + th_num_continuous_abnormal_yawrate: 25 + + # Optional Navigation Functions + angular_velocity_offset_stop: + estimated_interval: 4 + outlier_threshold: 0.002 + + rtk_deadreckoning: + rtk_fix_STD: 0.3 #[m] + proc_noise: 0.05 #[m] + + rtk_heading: + update_distance: 0.3 + estimated_minimum_interval: 10 + estimated_maximum_interval: 30 + gnss_receiving_threshold: 0.25 + outlier_threshold: 0.0524 + outlier_ratio_threshold: 0.5 + curve_judgment_threshold: 0.0873 + + enable_additional_rolling: + update_distance: 0.3 + moving_average_time: 1 + sync_judgment_threshold: 0.01 + sync_search_period: 1 + + velocity_estimator: + gga_downsample_time: 0.5 + stop_judgment_velocity_threshold: 0.2 + stop_judgment_interval: 1 + variance_threshold: 0.000025 + pitchrate_offset: + estimated_interval: 8 + pitching: + estimated_interval: 5 + outlier_threshold: 0.0174 + gnss_receiving_threshold: 0.2 + outlier_ratio_threshold: 0.5 + acceleration_offset: + estimated_minimum_interval: 30 + estimated_maximum_interval: 500 + filter_process_noise: 0.01 + filter_observation_noise: 1 + doppler_fusion: + estimated_interval: 4 + gnss_receiving_threshold: 0.2 + outlier_ratio_threshold: 0.5 + outlier_threshold: 0.1 \ No newline at end of file diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml new file mode 100644 index 0000000000..8e3b006f03 --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml @@ -0,0 +1,31 @@ +/**: + ros__parameters: + localization: + type: diagnostic_aggregator/AnalyzerGroup + path: localization + analyzers: + node_alive_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: node_alive_monitoring + analyzers: + topic_status: + type: diagnostic_aggregator/GenericAnalyzer + path: topic_status + contains: [": localization_topic_status"] + timeout: 1.0 + + eagleye: + type: diagnostic_aggregator/AnalyzerGroup + path: eagleye + analyzers: + twist: + type: diagnostic_aggregator/GenericAnalyzer + path: twist + contains: [": eagleye_twist"] + timeout: 3.0 + + localization_accuracy: + type: diagnostic_aggregator/GenericAnalyzer + path: localization_accuracy + contains: [": localization_accuracy"] + timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_lidar_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_lidar_loc.param.yaml new file mode 100644 index 0000000000..2d0b2b00af --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_lidar_loc.param.yaml @@ -0,0 +1,31 @@ +/**: + ros__parameters: + localization: + type: diagnostic_aggregator/AnalyzerGroup + path: localization + analyzers: + node_alive_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: node_alive_monitoring + analyzers: + topic_status: + type: diagnostic_aggregator/GenericAnalyzer + path: topic_status + contains: [": localization_topic_status"] + timeout: 1.0 + + performance_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: performance_monitoring + analyzers: + matching_score: + type: diagnostic_aggregator/GenericAnalyzer + path: matching_score + contains: ["ndt_scan_matcher"] + timeout: 1.0 + + localization_accuracy: + type: diagnostic_aggregator/GenericAnalyzer + path: localization_accuracy + contains: [": localization_accuracy"] + timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml new file mode 100644 index 0000000000..2195029708 --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml @@ -0,0 +1,52 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + /autoware/control/autonomous_driving/node_alive_monitoring: default + /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/control_command_gate/node_alive_monitoring: default + + /autoware/localization/node_alive_monitoring: default + /autoware/localization/eagleye/eagleye_twist: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/localization_accuracy: default + + /autoware/map/node_alive_monitoring: default + + /autoware/perception/node_alive_monitoring: default + + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default + + # /autoware/sensing/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default + + external_control: + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml similarity index 100% rename from autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml rename to autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 77dbf2eb3f..352b24d5f1 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -32,6 +32,8 @@ + + @@ -67,6 +69,7 @@ + @@ -95,6 +98,7 @@ + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index e028751072..9984a9bb92 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -2,15 +2,18 @@ + + + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 7ee6712175..14fac9a4da 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -3,19 +3,26 @@ + + + + + + - + - + - + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 8349476f64..1d185f7f4f 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -13,9 +13,9 @@ - - - + + + From df1e55129d3b1dd3ad5bd1ec7280d8a09ae46705 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Wed, 8 Feb 2023 14:07:32 +0900 Subject: [PATCH 02/18] Eagleye parameter update fot sample data Signed-off-by: Ryohei Sasaki --- autoware_launch/config/localization/eagleye_config.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 60465e3842..9761e9da19 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -27,7 +27,7 @@ z : 0.0 use_ecef_base_position : false - reverse_imu_wz: false + reverse_imu_wz: true # Eagleye Navigation Parameters # Basic Navigation Functions @@ -48,7 +48,7 @@ th_velocity_scale_factor_percent: 10.0 yawrate_offset_stop: - estimated_interval: 4 + estimated_interval: 3 outlier_threshold: 0.002 yawrate_offset: From db8936b6ff208df1afb0850da0b9ea5311f97edf Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Wed, 8 Feb 2023 15:28:13 +0900 Subject: [PATCH 03/18] Restore perception/planning/control parameters in lsim Signed-off-by: Ryohei Sasaki --- autoware_launch/launch/logging_simulator.launch.xml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 1d185f7f4f..8349476f64 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -13,9 +13,9 @@ - - - + + + From 168c0beb3dde899b17487a0f18a65dfca7ade709 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 11:36:10 +0900 Subject: [PATCH 04/18] Change use_gnss_mode Signed-off-by: Ryohei Sasaki --- autoware_launch/config/localization/eagleye_config.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 9761e9da19..1dd7704181 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -1,7 +1,7 @@ /**: #GNSS cycle 5Hz, IMU cycle 50Hz. ros__parameters: # Estimate mode - use_gnss_mode: RTKLIB + use_gnss_mode: rtklib use_canless_mode: false # Topic From 719c4c09005cc221cfbcc8295aade0b8eb718553 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 14:51:38 +0900 Subject: [PATCH 05/18] Fix spell Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 20 +++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 1dd7704181..8d0f78d37d 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -2,7 +2,7 @@ ros__parameters: # Estimate mode use_gnss_mode: rtklib - use_canless_mode: false + use_can_less_mode: false # Topic twist: @@ -38,20 +38,20 @@ slow_judgment_threshold: 0.278 moving_judgment_threshold: 2.78 - velocity_scale_factor: + velocity_scale_factor: estimated_minimum_interval: 20 estimated_maximum_interval: 400 gnss_receiving_threshold: 0.25 velocity_scale_factor_save_str: /config/velocity_scale_factor.txt - save_velocity_scale_factor: false + save_velocity_scale_factor: false velocity_scale_factor_save_duration: 100.0 th_velocity_scale_factor_percent: 10.0 - yawrate_offset_stop: + yaw_rate_offset_stop: estimated_interval: 3 outlier_threshold: 0.002 - yawrate_offset: + yaw_rate_offset: estimated_minimum_interval: 30 gnss_receiving_threshold: 0.25 outlier_threshold: 0.002 @@ -88,12 +88,12 @@ trajectory: curve_judgment_threshold: 0.017453 - timer_updata_rate: 10 + timer_update_rate: 10 deadlock_threshold: 1 sensor_noise_velocity: 0.05 sensor_scale_noise_velocity: 0.02 - sensor_noise_yawrate: 0.01 - sensor_bias_noise_yawrate: 0.1 + sensor_noise_yaw_rate: 0.01 + sensor_bias_noise_yaw_rate: 0.1 smoothing: moving_average_time: 3 @@ -121,10 +121,10 @@ monitor: print_status: true log_output_status: false - use_compare_yawrate: false + use_compare_yaw_rate: false comparison_twist_topic: /calculated_twist th_diff_rad_per_sec: 0.17453 - th_num_continuous_abnormal_yawrate: 25 + th_num_continuous_abnormal_yaw_rate: 25 # Optional Navigation Functions angular_velocity_offset_stop: From 8bb9611aa8efde5a576f920a4956833bc5e9e7e0 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 15:01:41 +0900 Subject: [PATCH 06/18] Fix spell Signed-off-by: Ryohei Sasaki --- .../config/localization/eagleye_config.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 8d0f78d37d..d459083a37 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -29,7 +29,7 @@ reverse_imu_wz: true - # Eagleye Navigation Parameters + # Navigation Parameters # Basic Navigation Functions common: imu_rate: 50 @@ -131,7 +131,7 @@ estimated_interval: 4 outlier_threshold: 0.002 - rtk_deadreckoning: + rtk_dead_reckoning: rtk_fix_STD: 0.3 #[m] proc_noise: 0.05 #[m] @@ -155,7 +155,7 @@ stop_judgment_velocity_threshold: 0.2 stop_judgment_interval: 1 variance_threshold: 0.000025 - pitchrate_offset: + pitch_rate_offset: estimated_interval: 8 pitching: estimated_interval: 5 From 0b438d37cf385b2d73aa0a3eb1a82bb6e6ffac33 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 15:10:54 +0900 Subject: [PATCH 07/18] Delete unnecessary white spaces Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 22 +++++++++---------- 1 file changed, 11 insertions(+), 11 deletions(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index d459083a37..1af4e49c44 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -22,7 +22,7 @@ # Origin of GNSS coordinates (ECEF to ENU) ecef_base_pos: - x : 0.0 + x : 0.0 y : 0.0 z : 0.0 use_ecef_base_position : false @@ -37,15 +37,15 @@ stop_judgment_threshold: 0.01 slow_judgment_threshold: 0.278 moving_judgment_threshold: 2.78 - + velocity_scale_factor: estimated_minimum_interval: 20 estimated_maximum_interval: 400 gnss_receiving_threshold: 0.25 velocity_scale_factor_save_str: /config/velocity_scale_factor.txt save_velocity_scale_factor: false - velocity_scale_factor_save_duration: 100.0 - th_velocity_scale_factor_percent: 10.0 + velocity_scale_factor_save_duration: 100.0 + th_velocity_scale_factor_percent: 10.0 yaw_rate_offset_stop: estimated_interval: 3 @@ -60,11 +60,11 @@ 2nd: estimated_maximum_interval: 500 - heading: + heading: estimated_minimum_interval: 10 estimated_maximum_interval: 30 gnss_receiving_threshold: 0.25 - outlier_threshold: 0.0524 + outlier_threshold: 0.0524 outlier_ratio_threshold: 0.5 curve_judgment_threshold: 0.0873 init_STD: 0.0035 #[rad] (= 0.2 [deg]) @@ -74,19 +74,19 @@ proc_noise: 0.0005 #[rad] (= 0.03 [deg]) slip_angle: - manual_coefficient: 0.0 + manual_coefficient: 0.0 slip_coefficient: estimated_minimum_interval: 2 estimated_maximum_interval: 100 curve_judgment_threshold: 0.017453 - lever_arm: 0.0 + lever_arm: 0.0 rolling: filter_process_noise: 0.01 filter_observation_noise: 1 - trajectory: + trajectory: curve_judgment_threshold: 0.017453 timer_update_rate: 10 deadlock_threshold: 1 @@ -127,7 +127,7 @@ th_num_continuous_abnormal_yaw_rate: 25 # Optional Navigation Functions - angular_velocity_offset_stop: + angular_velocity_offset_stop: estimated_interval: 4 outlier_threshold: 0.002 @@ -135,7 +135,7 @@ rtk_fix_STD: 0.3 #[m] proc_noise: 0.05 #[m] - rtk_heading: + rtk_heading: update_distance: 0.3 estimated_minimum_interval: 10 estimated_maximum_interval: 30 From f6512e5c9fc9059ce70809b0812b92134dc523af Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 16:20:40 +0900 Subject: [PATCH 08/18] Remove unnecessary trailing spaces Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 1af4e49c44..78556e1f11 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -45,7 +45,7 @@ velocity_scale_factor_save_str: /config/velocity_scale_factor.txt save_velocity_scale_factor: false velocity_scale_factor_save_duration: 100.0 - th_velocity_scale_factor_percent: 10.0 + th_velocity_scale_factor_percent: 10.0 yaw_rate_offset_stop: estimated_interval: 3 @@ -60,11 +60,11 @@ 2nd: estimated_maximum_interval: 500 - heading: + heading: estimated_minimum_interval: 10 estimated_maximum_interval: 30 gnss_receiving_threshold: 0.25 - outlier_threshold: 0.0524 + outlier_threshold: 0.0524 outlier_ratio_threshold: 0.5 curve_judgment_threshold: 0.0873 init_STD: 0.0035 #[rad] (= 0.2 [deg]) @@ -74,13 +74,13 @@ proc_noise: 0.0005 #[rad] (= 0.03 [deg]) slip_angle: - manual_coefficient: 0.0 + manual_coefficient: 0.0 slip_coefficient: estimated_minimum_interval: 2 estimated_maximum_interval: 100 curve_judgment_threshold: 0.017453 - lever_arm: 0.0 + lever_arm: 0.0 rolling: filter_process_noise: 0.01 @@ -127,7 +127,7 @@ th_num_continuous_abnormal_yaw_rate: 25 # Optional Navigation Functions - angular_velocity_offset_stop: + angular_velocity_offset_stop: estimated_interval: 4 outlier_threshold: 0.002 @@ -135,7 +135,7 @@ rtk_fix_STD: 0.3 #[m] proc_noise: 0.05 #[m] - rtk_heading: + rtk_heading: update_distance: 0.3 estimated_minimum_interval: 10 estimated_maximum_interval: 30 @@ -152,7 +152,7 @@ velocity_estimator: gga_downsample_time: 0.5 - stop_judgment_velocity_threshold: 0.2 + stop_judgment_velocity_threshold: 0.2 stop_judgment_interval: 1 variance_threshold: 0.000025 pitch_rate_offset: @@ -171,4 +171,4 @@ estimated_interval: 4 gnss_receiving_threshold: 0.2 outlier_ratio_threshold: 0.5 - outlier_threshold: 0.1 \ No newline at end of file + outlier_threshold: 0.1 From 6460bd540063be2a2ea376c1c804f6062ff7d1ff Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 16:28:26 +0900 Subject: [PATCH 09/18] Prettier format Signed-off-by: Ryohei Sasaki --- .../config/localization/eagleye_config.param.yaml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 78556e1f11..c3d316a0c5 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -1,4 +1,4 @@ -/**: #GNSS cycle 5Hz, IMU cycle 50Hz. +/**: #GNSS cycle 5Hz, IMU cycle 50Hz. ros__parameters: # Estimate mode use_gnss_mode: rtklib @@ -11,9 +11,9 @@ imu_topic: /sensing/imu/tamagawa/imu_raw gnss: velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 - velocity_source_topic: /sensing/gnss/ublox/navpvt + velocity_source_topic: /sensing/gnss/ublox/navpvt llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 - llh_source_topic: /sensing/gnss/ublox/nav_sat_fix + llh_source_topic: /sensing/gnss/ublox/nav_sat_fix # TF tf_gnss_frame: @@ -22,10 +22,10 @@ # Origin of GNSS coordinates (ECEF to ENU) ecef_base_pos: - x : 0.0 - y : 0.0 - z : 0.0 - use_ecef_base_position : false + x: 0.0 + y: 0.0 + z: 0.0 + use_ecef_base_position: false reverse_imu_wz: true From 1ff0c14dc21e6ec3b017625851a73d11c3cf8c74 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 17:11:06 +0900 Subject: [PATCH 10/18] prettier format Signed-off-by: Ryohei Sasaki --- .../system_error_monitor_gnss_loc.param.yaml | 3 ++- .../system_error_monitor_lidar_loc.param.yaml | 3 ++- 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml index 2195029708..747e47f3c3 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml @@ -22,7 +22,8 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - /autoware/localization/eagleye/eagleye_twist: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/eagleye/eagleye_twist: + { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml index 71dc2ac600..14014da173 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml @@ -22,7 +22,8 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/matching_score: + { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default From 476d86dc94cd17e0b7b8e20e45dd39760eb2c309 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 17:21:02 +0900 Subject: [PATCH 11/18] clang-format Signed-off-by: Ryohei Sasaki --- .../system_error_monitor_gnss_loc.param.yaml | 29 ++++++++++--------- .../system_error_monitor_lidar_loc.param.yaml | 29 ++++++++++--------- 2 files changed, 30 insertions(+), 28 deletions(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml index 747e47f3c3..c4eb064ec8 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml @@ -1,18 +1,19 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +#Description: +#name : diag name +#sf_at : diag level where it becomes Safe Fault +#lf_at : diag level where it becomes Latent Fault +#spf_at : diag level where it becomes Single Point Fault +#auto_recovery : Determines whether the system will automatically recover when it recovers from an \ + error. # -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- +#Note: +#empty - value for sf_at, lf_at and spf_at is "none" +#default values are: +#sf_at : "none" +#lf_at : "warn" +#spf_at : "error" +#auto_recovery : "true" +-- - /**: ros__parameters: required_modules: diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml index 14014da173..d4d42339d1 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml @@ -1,18 +1,19 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +#Description: +#name : diag name +#sf_at : diag level where it becomes Safe Fault +#lf_at : diag level where it becomes Latent Fault +#spf_at : diag level where it becomes Single Point Fault +#auto_recovery : Determines whether the system will automatically recover when it recovers from an \ + error. # -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- +#Note: +#empty - value for sf_at, lf_at and spf_at is "none" +#default values are: +#sf_at : "none" +#lf_at : "warn" +#spf_at : "error" +#auto_recovery : "true" +-- - /**: ros__parameters: required_modules: From d9e9ad2368cf6de793602db8ff1c2db2b8d38741 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Thu, 9 Feb 2023 17:32:10 +0900 Subject: [PATCH 12/18] Revert "clang-format" This reverts commit 46cd907089e6551a975bcff2f3971679598da24c. Signed-off-by: Ryohei Sasaki --- .../system_error_monitor_gnss_loc.param.yaml | 29 +++++++++---------- .../system_error_monitor_lidar_loc.param.yaml | 29 +++++++++---------- 2 files changed, 28 insertions(+), 30 deletions(-) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml index c4eb064ec8..747e47f3c3 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml @@ -1,19 +1,18 @@ -#Description: -#name : diag name -#sf_at : diag level where it becomes Safe Fault -#lf_at : diag level where it becomes Latent Fault -#spf_at : diag level where it becomes Single Point Fault -#auto_recovery : Determines whether the system will automatically recover when it recovers from an \ - error. +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. # -#Note: -#empty - value for sf_at, lf_at and spf_at is "none" -#default values are: -#sf_at : "none" -#lf_at : "warn" -#spf_at : "error" -#auto_recovery : "true" --- - +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- /**: ros__parameters: required_modules: diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml index d4d42339d1..14014da173 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml @@ -1,19 +1,18 @@ -#Description: -#name : diag name -#sf_at : diag level where it becomes Safe Fault -#lf_at : diag level where it becomes Latent Fault -#spf_at : diag level where it becomes Single Point Fault -#auto_recovery : Determines whether the system will automatically recover when it recovers from an \ - error. +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. # -#Note: -#empty - value for sf_at, lf_at and spf_at is "none" -#default values are: -#sf_at : "none" -#lf_at : "warn" -#spf_at : "error" -#auto_recovery : "true" --- - +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- /**: ros__parameters: required_modules: From 3f04a9dd7bc4a4c49d4ec790e3f6b9958ab822da Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 10 Feb 2023 13:08:46 +0900 Subject: [PATCH 13/18] Rename GNSS/Lidar localization switching parameters Signed-off-by: Ryohei Sasaki --- autoware_launch/launch/autoware.launch.xml | 6 +++--- .../components/tier4_localization_component.launch.xml | 4 ++-- .../components/tier4_system_component.launch.xml | 10 +++++----- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 352b24d5f1..8897a349aa 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -33,7 +33,7 @@ - + @@ -69,7 +69,7 @@ - + @@ -98,7 +98,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 9984a9bb92..7dc3694a5e 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -2,12 +2,12 @@ - + - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 14fac9a4da..90845ca50d 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -3,12 +3,12 @@ - + - - - - + + + + From 3294c2b7e4f2880aad30a84bc58ed1836ab653b3 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Sun, 26 Mar 2023 09:43:11 +0900 Subject: [PATCH 14/18] Remove conditional branching by pose_estimatar_mode in system_error_monitor Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 2 +- ...loc.param.yaml => localization.param.yaml} | 0 .../localization_gnss_loc.param.yaml | 31 ----------- ...m.yaml => system_error_monitor.param.yaml} | 3 +- .../system_error_monitor_gnss_loc.param.yaml | 53 ------------------- .../tier4_system_component.launch.xml | 1 - 6 files changed, 2 insertions(+), 88 deletions(-) rename autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/{localization_lidar_loc.param.yaml => localization.param.yaml} (100%) delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml rename autoware_launch/config/system/system_error_monitor/{system_error_monitor_lidar_loc.param.yaml => system_error_monitor.param.yaml} (97%) delete mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index c3d316a0c5..87206630c1 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -8,7 +8,7 @@ twist: twist_type: 1 # TwistStamped : 0, TwistWithCovarianceStamped: 1 twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance - imu_topic: /sensing/imu/tamagawa/imu_raw + imu_topic: /sensing/imu/imu_data gnss: velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 velocity_source_topic: /sensing/gnss/ublox/navpvt diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_lidar_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization.param.yaml similarity index 100% rename from autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_lidar_loc.param.yaml rename to autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml deleted file mode 100644 index 8e3b006f03..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization_gnss_loc.param.yaml +++ /dev/null @@ -1,31 +0,0 @@ -/**: - ros__parameters: - localization: - type: diagnostic_aggregator/AnalyzerGroup - path: localization - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": localization_topic_status"] - timeout: 1.0 - - eagleye: - type: diagnostic_aggregator/AnalyzerGroup - path: eagleye - analyzers: - twist: - type: diagnostic_aggregator/GenericAnalyzer - path: twist - contains: [": eagleye_twist"] - timeout: 3.0 - - localization_accuracy: - type: diagnostic_aggregator/GenericAnalyzer - path: localization_accuracy - contains: [": localization_accuracy"] - timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml similarity index 97% rename from autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml rename to autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index 14014da173..71dc2ac600 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_lidar_loc.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -22,8 +22,7 @@ /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/matching_score: - { sf_at: "warn", lf_at: "none", spf_at: "none" } + /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_accuracy: default /autoware/map/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml deleted file mode 100644 index 747e47f3c3..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor_gnss_loc.param.yaml +++ /dev/null @@ -1,53 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/eagleye/eagleye_twist: - { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_accuracy: default - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 4d56e6e863..3cfc6d8541 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -12,7 +12,6 @@ - From 37402f9f065bce33f29ec064e5c48c2dd7a6cf3e Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Tue, 4 Apr 2023 16:50:50 +0900 Subject: [PATCH 15/18] Change launch directory structure Signed-off-by: Ryohei Sasaki --- .../localization/eagleye_config.param.yaml | 3 +++ ...tializer.logging_simulator.gnss.param.yaml | 6 +++++ ...alizer.logging_simulator.lidar.param.yaml} | 0 autoware_launch/launch/autoware.launch.xml | 2 ++ .../map4_localization_component1.launch.xml | 24 +++++++++++++++++++ .../map4_localization_component2.launch.xml | 17 +++++++++++++ .../tier4_localization_component.launch.xml | 4 +--- 7 files changed, 53 insertions(+), 3 deletions(-) create mode 100644 autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml rename autoware_launch/config/localization/{pose_initializer.logging_simulator.param.yaml => pose_initializer.logging_simulator.lidar.param.yaml} (100%) create mode 100644 autoware_launch/launch/components/map4_localization_component1.launch.xml create mode 100644 autoware_launch/launch/components/map4_localization_component2.launch.xml diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index 87206630c1..e83376e841 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -14,6 +14,9 @@ velocity_source_topic: /sensing/gnss/ublox/navpvt llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 llh_source_topic: /sensing/gnss/ublox/nav_sat_fix + sub_gnss: + llh_source_type: 2 # nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 + llh_source_topic: /sensing/sub_gnss/ublox/nav_sat_fix # TF tf_gnss_frame: diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml new file mode 100644 index 0000000000..f32ac98604 --- /dev/null +++ b/autoware_launch/config/localization/pose_initializer.logging_simulator.gnss.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + gnss_enabled: true + ndt_enabled: false + ekf_enabled: true + stop_check_enabled: false diff --git a/autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml b/autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml similarity index 100% rename from autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml rename to autoware_launch/config/localization/pose_initializer.logging_simulator.lidar.param.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 70ba32a4a9..9854ac3170 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -86,6 +86,8 @@ + + diff --git a/autoware_launch/launch/components/map4_localization_component1.launch.xml b/autoware_launch/launch/components/map4_localization_component1.launch.xml new file mode 100644 index 0000000000..ac75d06f8d --- /dev/null +++ b/autoware_launch/launch/components/map4_localization_component1.launch.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/map4_localization_component2.launch.xml b/autoware_launch/launch/components/map4_localization_component2.launch.xml new file mode 100644 index 0000000000..1ee067a0f5 --- /dev/null +++ b/autoware_launch/launch/components/map4_localization_component2.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index d92eaea631..560fc8f557 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -3,20 +3,18 @@ - - From 3f28f651a655f0e70a56f05eda344d2dc5fa6ec4 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Tue, 4 Apr 2023 17:01:33 +0900 Subject: [PATCH 16/18] Delete unnecessary parameters and files Signed-off-by: Ryohei Sasaki --- .../localization.param.yaml | 31 ------------------- autoware_launch/launch/autoware.launch.xml | 2 -- 2 files changed, 33 deletions(-) delete mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization.param.yaml deleted file mode 100644 index 2d0b2b00af..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/localization.param.yaml +++ /dev/null @@ -1,31 +0,0 @@ -/**: - ros__parameters: - localization: - type: diagnostic_aggregator/AnalyzerGroup - path: localization - analyzers: - node_alive_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: node_alive_monitoring - analyzers: - topic_status: - type: diagnostic_aggregator/GenericAnalyzer - path: topic_status - contains: [": localization_topic_status"] - timeout: 1.0 - - performance_monitoring: - type: diagnostic_aggregator/AnalyzerGroup - path: performance_monitoring - analyzers: - matching_score: - type: diagnostic_aggregator/GenericAnalyzer - path: matching_score - contains: ["ndt_scan_matcher"] - timeout: 1.0 - - localization_accuracy: - type: diagnostic_aggregator/GenericAnalyzer - path: localization_accuracy - contains: [": localization_accuracy"] - timeout: 1.0 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 9854ac3170..8f4ee75ce3 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -35,8 +35,6 @@ - - From 1ae64c0d138675be61b36f8b121b15ae79ebd851 Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 7 Apr 2023 10:13:08 +0900 Subject: [PATCH 17/18] Integrate map4_localization_component1,2 Signed-off-by: Ryohei Sasaki --- autoware_launch/launch/autoware.launch.xml | 5 +-- .../map4_localization_component.launch.xml | 45 +++++++++++++++++++ .../map4_localization_component1.launch.xml | 24 ---------- .../map4_localization_component2.launch.xml | 17 ------- 4 files changed, 47 insertions(+), 44 deletions(-) create mode 100644 autoware_launch/launch/components/map4_localization_component.launch.xml delete mode 100644 autoware_launch/launch/components/map4_localization_component1.launch.xml delete mode 100644 autoware_launch/launch/components/map4_localization_component2.launch.xml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 8f4ee75ce3..aed106baf2 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -83,9 +83,8 @@ - - - + + diff --git a/autoware_launch/launch/components/map4_localization_component.launch.xml b/autoware_launch/launch/components/map4_localization_component.launch.xml new file mode 100644 index 0000000000..4fd0fdf8bd --- /dev/null +++ b/autoware_launch/launch/components/map4_localization_component.launch.xml @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/components/map4_localization_component1.launch.xml b/autoware_launch/launch/components/map4_localization_component1.launch.xml deleted file mode 100644 index ac75d06f8d..0000000000 --- a/autoware_launch/launch/components/map4_localization_component1.launch.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - - - - - - - - - - - - - - - - - diff --git a/autoware_launch/launch/components/map4_localization_component2.launch.xml b/autoware_launch/launch/components/map4_localization_component2.launch.xml deleted file mode 100644 index 1ee067a0f5..0000000000 --- a/autoware_launch/launch/components/map4_localization_component2.launch.xml +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - From 53e200edd8e85d26df4ee73abc18950a613cb19c Mon Sep 17 00:00:00 2001 From: Ryohei Sasaki Date: Fri, 7 Apr 2023 10:32:33 +0900 Subject: [PATCH 18/18] Fix comment out in localization launch Signed-off-by: Ryohei Sasaki --- autoware_launch/launch/autoware.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index aed106baf2..4a57cd1cb7 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -83,8 +83,8 @@ - - + +