From b0d7d68ea43505609920675b22a6b015e98b8f2a Mon Sep 17 00:00:00 2001 From: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> Date: Mon, 6 Dec 2021 19:01:37 +0900 Subject: [PATCH] feat: add detected object feature remover (#110) * feat: add detected object feature remover * change output type of shape_estimation * remove unused function * add dynamic_object_converter * rename * fix typo * fix dummy_perception_publisher * update readme * fix copyright * rename package * add readme * fix launch name * remove unused variable * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature * feat: add autoware_version package (#11) * Add autoware version node (#394) * Add autoware version node Signed-off-by: Takagi, Isamu * Remove todo Signed-off-by: Takagi, Isamu * Remove unused variable Signed-off-by: Takagi, Isamu * Fix node name Signed-off-by: Takagi, Isamu * Modify autoware_version not to use transient_local (workaround) (#403) * Modify autoware_version not to use transient_local Signed-off-by: Takagi, Isamu * Add todo comment Signed-off-by: Takagi, Isamu * Fix for lint Signed-off-by: Takagi, Isamu * Revert "Modify autoware_version not to use transient_local (workaround) (#403)" (#418) This reverts commit 39b7ef232a3d21c619d28935fa122abf23891961. Signed-off-by: Takagi, Isamu * Fix -Wunused-parameter (#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake * Fix mistake Signed-off-by: Kenji Miyake * fix spell * Fix lint issues Signed-off-by: Kenji Miyake * Ignore flake8 warnings Signed-off-by: Kenji Miyake Co-authored-by: Hiroki OTA * Add package version API (#2150) * Add package version API * Fix format * Fix message type * Change formatter to clang-format and black (#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake * Apply Black Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Add COLCON_IGNORE (#500) Signed-off-by: Kenji Miyake * remove COLCON_IGNORE in autoware_version (#530) * Add readme of autoware_version (#612) * change type * add readme * ci(pre-commit): autofix Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat: add emergency_handler package (#13) * release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r * Revert "remove ROS1 packages temporarily" This reverts commit bb6fdb15dd23df7eab978525dd7a1541cf61df4a. Signed-off-by: mitsudome-r * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r * Rename launch files to launch.xml (#28) * ROS2 Porting: emergency_handler (#40) * Pull emergency handler package from master for porting * Fix CMakeList - Change to format similar to the simple_simulation_planner - Doesn't compile due to src files * Rename of core implementation to be compliant with ROS2 naming guidelines * Use the node/core naming convention - Add _core file to hold the implementation - _node file now holds the executable - Modify CMakeLists to point to the new executable * Conversion of msg types - Compiles now - Add back functions * Convert node intrinsics to ROS2 - Add subscriptions - Add publisher - Add timer subscription - Add publishing and logging * Rearrange files and folders * Fix cmake and package xml * Interface with parameters and fix launch file - Fix configuration files - Correct main implementation - Clean up - Fix headers * Use correct timer implementation * Use throttle logs * Use class method to get time instead of static method * Make parameter file agnostic to node name Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> * fix duration unit for RCLCPP_*_THROTTLE (#75) Signed-off-by: Takamasa Horibe * Adjust copyright notice on 532 out of 699 source files (#143) * Use quotes for includes where appropriate (#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Add linters (#206) * Ros2 v0.8.0 emergency handler (#280) * Ros2 v0.8.0 fix packages2 (#354) * fix topic name * fix duration rate * fix sensing.yaml * fix topic name * add latch-option to autoware_state_monitor * fix timer callback * fix autoware state monitor config * fix sensing.yaml * fix emergency handler (#361) * Sync with Ros2 v0.8.0 beta (#393) * add nullptr check when publish concatenate data (#369) * Add warning msg when concat pointcloud is not published (#388) Signed-off-by: Kenji Miyake * add timeout notification stamp msgs (#363) * add timeout notification stamp msgs * fix uncursify * delete timeout notification stamped * Revert "delete timeout notification stamped" This reverts commit 365d29209f6a7f5ec75eb80c5d8c2ef38daeae79. * fix message Co-authored-by: Taichi Higashide Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix state_timeout (#399) Signed-off-by: Kosuke Murakami * fix param name (#412) * add timeout_ignore_state to emergency_handler (#415) * add timeout_ignore_state in emergency_handler * do not ignore is_state_timeout_->is_timeout * sort condition * Ros2 fix topic name part1 (#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu * Fix lint errors Signed-off-by: Takagi, Isamu * Fix typo Signed-off-by: Takagi, Isamu * fix launch arg (#426) Signed-off-by: Kosuke Murakami * add use_sim-time option (#454) * Fix for rolling (#1226) * Replace doc by description Signed-off-by: Kenji Miyake * Replace ns by push-ros-namespace Signed-off-by: Kenji Miyake * Remove state_timeout_checker (#1247) Signed-off-by: Kenji Miyake * Remove use_sim_time for set_parameter (#1260) Signed-off-by: wep21 * Prevent emergency hold during manual driving (#1390) * Prevent emergency hold during manual driving Signed-off-by: Kenji Miyake * Update README.md * Fix typo * Fix -Wunused-parameter (#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake * Fix mistake Signed-off-by: Kenji Miyake * fix spell * Fix lint issues Signed-off-by: Kenji Miyake * Ignore flake8 warnings Signed-off-by: Kenji Miyake Co-authored-by: Hiroki OTA * Add autoware api (#1979) * enable autonomous recovery (#1904) * Use EmergencyState instead of deprecated EmergencyMode (#2030) * Use EmergencyState instead of deprecated EmergencyMode Signed-off-by: Kenji Miyake * Use stamped type Signed-off-by: Kenji Miyake * add sort-package-xml hook in pre-commit (#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Add takeover-request feature in emergency_handler (#2032) * Add takeover-request feature in emergency_handler Signed-off-by: Kenji Miyake * Rename tor to takeover_request Signed-off-by: Kenji Miyake * Use transitionTo Signed-off-by: Kenji Miyake * Replace image URL Signed-off-by: Kenji Miyake * Add error handling Signed-off-by: Kenji Miyake * Fix state transition Signed-off-by: Kenji Miyake * Fix state transition Signed-off-by: Kenji Miyake * Fix cpplint Signed-off-by: Kenji Miyake * Return after state transition Signed-off-by: Kenji Miyake * Fix state transition Signed-off-by: Kenji Miyake * Add initialization for control mode (#2118) Signed-off-by: wep21 * Change formatter to clang-format and black (#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake * Apply Black Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Add COLCON_IGNORE (#500) Signed-off-by: Kenji Miyake * [emergency_handler]support autoware.auto msg (#513) * support auto msg * add readme * remove VehicleStateReport/VehicleStateCommand/VehicleControlCommand (#549) * fix autoware_error_monitor * fix state monitor * fix emergency handler(vehicle_state_report) * fix emergency Handler(vehicle_state_command) * fix shift_decider * fix emergency_handler(vehicle_control_command) * fix topic name * fix readme * Update system/autoware_state_monitor/Readme.md Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix format * Update system/autoware_state_monitor/launch/autoware_state_monitor.launch.xml Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * fix typo Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> * [autowere_web_controller/autoware_state_monitor/emergency_handler]fix some packages (#603) * fix vehicle_engage.js * fix autoware_state_monitor param * fix emergency_handler * oh * update autoware_state.js * fix topic name (#679) * Fix/psim topics emergency handler awapi (#702) * fix emergency handler * fix awapi * remove unused topic * remove duplecated vehicle cmd Co-authored-by: mitsudome-r Co-authored-by: Nikolai Morin Co-authored-by: Jilada Eccleston Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Taichi Higashide Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Kosuke Murakami Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> * feat: add lane depature checker package (#44) * Back port .auto control packages (#571) * Implement Lateral and Longitudinal Control Muxer * [#570] Porting wf_simulator * [#1189] Deactivate flaky test in 'trajectory_follower_nodes' * [#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' * [#1057] Add osqp_interface package * [#1057] Add library code for MPC-based lateral control * [#1271] Use std::abs instead of abs * [#1057] Implement Lateral Controller for Cargo ODD * [#1246] Resolve "Test case names currently use snake_case but should be CamelCase" * [#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes' * [#1058] Add library code of longitudinal controller * Fix build error for trajectory follower Signed-off-by: wep21 * Fix build error for trajectory follower nodes Signed-off-by: wep21 * [#1272] Add AckermannControlCommand support to simple_planning_simulator * [#1058] Add Longitudinal Controller node * [#1058] Rename velocity_controller -> longitudinal_controller * [#1058] Update CMakeLists.txt for the longitudinal_controller_node * [#1058] Add smoke test python launch file * [#1058] Use LowPassFilter1d from trajectory_follower * [#1058] Use autoware_auto_msgs * [#1058] Changes for .auto (debug msg tmp fix, common func, tf listener) * [#1058] Remove unused parameters * [#1058] Fix ros test * [#1058] Rm default params from declare_parameters + use autoware types * [#1058] Use default param file to setup NodeOptions in the ros test * [#1058] Fix docstring * [#1058] Replace receiving a Twist with a VehicleKinematicState * [#1058] Change class variables format to m_ prefix * [#1058] Fix plugin name of LongitudinalController in CMakeLists.txt * [#1058] Fix copyright dates * [#1058] Reorder includes * [#1058] Add some tests (~89% coverage without disabling flaky tests) * [#1058] Add more tests (90+% coverage without disabling flaky tests) * [#1058] Use Float32MultiArrayDiagnostic message for debug and slope * [#1058] Calculate wheel_base value from vehicle parameters * [#1058] Cleanup redundant logger setting in tests * [#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures * [#1058] Remove TF listener and use published vehicle state instead * [#1058] Change smoke tests to use autoware_testing * [#1058] Add plotjuggler cfg for both lateral and longitudinal control * [#1058] Improve design documents * [#1058] Disable flaky test * [#1058] Properly transform vehicle state in longitudinal node * [#1058] Fix TF buffer of lateral controller * [#1058] Tuning of lateral controller for LGSVL * [#1058] Fix formating * [#1058] Fix /tf_static sub to be transient_local * [#1058] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build Signed-off-by: Takamasa Horibe * [#1379] Update trajectory_follower * [#1379] Update simple_planning_simulator * [#1379] Update trajectory_follower_nodes * apply trajectory msg modification in control Signed-off-by: Takamasa Horibe * move directory Signed-off-by: Takamasa Horibe * remote control/trajectory_follower level dorectpry Signed-off-by: Takamasa Horibe * remove .iv trajectory follower Signed-off-by: Takamasa Horibe * use .auto trajectory_follower Signed-off-by: Takamasa Horibe * remove .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe * use .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe * add tmp_autoware_auto_dependencies Signed-off-by: Takamasa Horibe * tmporally add autoware_auto_msgs Signed-off-by: Takamasa Horibe * apply .auto message split Signed-off-by: Takamasa Horibe * fix build depend Signed-off-by: Takamasa Horibe * fix packages using osqp * fix autoware_auto_geometry * ignore lint of some packages * ignore ament_lint of some packages * ignore lint/pre-commit of trajectory_follower_nodes * disable unit tests of some packages Co-authored-by: Maxime CLEMENT Co-authored-by: Joshua Whitley Co-authored-by: Igor Bogoslavskyi Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura * add isValidData (#686) Signed-off-by: Takamasa Horibe * Fix lane departure (#688) * rename Signed-off-by: Takamasa Horibe * fix bug Signed-off-by: Takamasa Horibe * Update twist topic name (#736) Signed-off-by: wep21 * ci(pre-commit): autofix Co-authored-by: Takamasa Horibe Co-authored-by: Maxime CLEMENT Co-authored-by: Joshua Whitley Co-authored-by: Igor Bogoslavskyi Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: tomoya.kimura Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> * feat: add multi_object_tracker package (#74) * release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r * Revert "remove ROS1 packages temporarily" This reverts commit 4acc04bb2a3b2ef21e687a8d3ba88008fa32846b. Signed-off-by: mitsudome-r * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r * Rename launch files to launch.xml (#28) * ROS2 Porting: multi_object_tracker (#24) * First pass at node (exclude tracker library) - Rename files to match existing packages - node -> _core - main -> _node - Add publishers and subscribers - Add TF and logging - issue with lookupTransform from tf2::BufferCore doesn't allow for duration specification in foxy bfe938b7971f96b343cdf30e15b7157863804644 * Add the base implementation of the helper class and files - Depends on the unique_id package which has not been release rosdep yet - Point to the correct packages - Add vehicle_tracker class - Missing uuid implementation for the object id creation - Convert bicycle_tracker class - Convert pedestrian_tracker to ROS2 - Add successive_shortest_path library - Changed header file extension to match existing files - Convert data_association to ROS2 - Return type change to resolve -Wreturn-type warning * Add data associator and tracker method calls back into the MultiObjectTracker implementation * Clean up - Align headers - Fix typo - Add back the transform with no duration; see issue - Remove comments * Clean up package.xml and CMakelists * Clean up header order * Remove main file * Fix issues after rebase - Add wait for transform to add duration - Add UUID generation - Add -Werror * Address PR comment: - Reintroduce getUUID method in tracker code * Fix the waitForTransform implementation - Use the synchronous approach to getting the transform using wait_for() * Address PR comments: - Add further comments in CMakelist explaining Eigen library deps - Use durable transient_local QoS for subscriber - Remove second explicit string type decl - Convert buffer and listener to plain objects, move initialization to initialization list - Make generation of random bits more idiomatic - Use indepedent_bit_engine instead of uniform distribution * Address PR comments: - Fix eigen cmake dep * Fix Eigen3 deps - find cmake module * fix duration unit for RCLCPP_*_THROTTLE (#75) Signed-off-by: Takamasa Horibe * Adjust copyright notice on 532 out of 699 source files (#143) * Use quotes for includes where appropriate (#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * adding linters to multi_object_tracker (#177) * [multi_object_tracker] fix bug in calculating timer period (#198) Signed-off-by: mitsudome-r * Replace waitForTransform with lookupTransform in multi_object_tracker (#213) * Ros2 v0.8.0 multi object tracker (#259) * restore file name for v0.8.0 update Signed-off-by: wep21 * fix typos in perception (#862) * Feature/camera lidar perception (#937) * add object splitter Signed-off-by: Yukihiro Saito * add object merger Signed-off-by: Yukihiro Saito * change pkg name Signed-off-by: Yukihiro Saito * cosmetic change Signed-off-by: Yukihiro Saito * add comment Signed-off-by: Yukihiro Saito * remove litter Signed-off-by: Yukihiro Saito * bug fix : debug code Signed-off-by: Yukihiro Saito * enable vehicle to unknown track Signed-off-by: Yukihiro Saito * bug fix * add object position in clustering * :put_litter_in_its_place: * change param * fix name * bug fix * add install * add delay compensation param (#1035) * fix tracking bug and change tracking param (#1036) * fix bug * cut stop noise velocity * update param * support unknown labeled object tracking (#1017) * add data association matrix param * fix typo * apply clang-format-6.0 * set pedestrian model when label is unknown Co-authored-by: Yukihiro Saito * Add missing install of config directory (#1045) Signed-off-by: Kenji Miyake * Revert "restore file name for v0.8.0 update" This reverts commit 5fdf5b179f2395f01672c976920da1f8de8cc33a. * Fix typo Signed-off-by: wep21 * Fix parameter type Signed-off-by: wep21 * Fix missing arg Signed-off-by: wep21 Co-authored-by: Kazuki Miyahara Co-authored-by: Yukihiro Saito Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix min_area (#347) Signed-off-by: Kosuke Murakami * Rename ROS-related .yaml to .param.yaml (#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake * Fix overlooked parameters Signed-off-by: Kenji Miyake * Feature/ekf tracker (#1158) (#381) * Feature/ekf tracker (#1158) * change to ekf tracker * visualize covariance * cosmetic change * cosmetic change * change param * add multi model ekf tracker (#1165) * add multi model ekf tracker * cosmetic change * cosmetic change * add iou filter * change correct license * change correct license * cosmetic change * bug fix * cosmetic change * check clockwise * change param * bug fix * cosmetic change * add comment * add enum * cosmetic change * cosmetic change * apply format * apply format * fix config name Signed-off-by: mitsudome-r * [multi_object_tracker] apply ament_uncrustify Signed-off-by: mitsudome-r * [multi_object_tracker] fix lint errors Signed-off-by: mitsudome-r * fix include brackets Signed-off-by: mitsudome-r * fix duration (#445) * fix duration Signed-off-by: Kosuke Murakami * change to from_seconds Signed-off-by: Kosuke Murakami * fix other duration Signed-off-by: Kosuke Murakami * replace -1 with 0 Signed-off-by: Kosuke Murakami * apply ament_lint_common Signed-off-by: Kosuke Murakami * uncrustify Signed-off-by: Kosuke Murakami * add space Signed-off-by: Kosuke Murakami * add another space Signed-off-by: Kosuke Murakami * Fix typo in perception module (#440) * add use_sim-time option (#454) * Remove use_sim_time for set_parameter (#1260) Signed-off-by: wep21 * fix calculation of corners (#1271) (#1273) * fix calculation of corners * reduce calc cost Co-authored-by: Yukihiro Saito Co-authored-by: Yusuke Muramatsu Co-authored-by: Yukihiro Saito * Porting small fix (#1288) * Delete unused code (#1183) * Fix control topic name of closest_velocity_checker.py (#1174) Signed-off-by: Kenji Miyake * Add comments for livox tag (#1188) Signed-off-by: Kenji Miyake * Clear return value (#1193) * Change tracker model of unknown object (#1204) * treat polygon points as relative (#1205) Signed-off-by: Kosuke Murakami * hotfix: reference velocity in consideration of vehicle gear (#1213) * fix reference velocity for vehicle gear * add initialization * revert * add comment * change max area param (#1218) * Fix an identical code for different branches (#1230) * Update livox_tag_filter.launch.xml * Fixup Signed-off-by: Kenji Miyake Co-authored-by: shin <8327162+0x126@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Fumiya Watanabe Co-authored-by: Yukihiro Saito Co-authored-by: Kosuke Murakami Co-authored-by: Hiroki OTA Co-authored-by: tkimura4 Co-authored-by: Kazuki Miyahara Co-authored-by: Kenji Miyake * fix bug (change noise in measurement update) (#1313) * fix bug (change noise in measurement update) * Uncrustify Signed-off-by: wep21 Co-authored-by: Yukihiro Saito * Feature/porting mussp with vendor (#1323) * change to mussp (#1180) * change to mussp * add license * add license * change to solver plugin * fix bug * cosmetic change * modified to follow ROS2 coding style * Use mussp vendor Signed-off-by: wep21 * Fix dependencies in package.xml Signed-off-by: wep21 * Add mussp_vendor into build_depends.repos Signed-off-by: wep21 * Fix lint Signed-off-by: wep21 * Fix typo Signed-off-by: wep21 * Fix typo Signed-off-by: wep21 * Fix lint Signed-off-by: wep21 * Use fork instead of vendor package Signed-off-by: wep21 * Cleanup CMakeLists.txt Signed-off-by: wep21 * Remove comment Signed-off-by: wep21 * Sort package dependencies in alphabetical order Signed-off-by: wep21 Co-authored-by: Yukihiro Saito Co-authored-by: Keisuke Shima * Porting unknown tracker (#1292) * add unknown tracker (#1211) * add unknown tracker * bug fix * fix typo * fix for test Co-authored-by: Yukihiro Saito * Fix/tracking ros2 (#1478) * cosmetic change and fix multi model tracker update bug (#1335) * Fix lint Signed-off-by: wep21 * Fix typo Signed-off-by: wep21 Co-authored-by: Yukihiro Saito * Add missing eigen macro (#1336) (#1477) Signed-off-by: wep21 * Fix parameter file for mot (#1489) Signed-off-by: wep21 * Add pre-commit (#1560) * add pre-commit * add pre-commit-config * add additional settings for private repository * use default pre-commit-config * update pre-commit setting * Ignore whitespace for line breaks in markdown * Update .github/workflows/pre-commit.yml Co-authored-by: Kazuki Miyahara * exclude svg * remove pretty-format-json * add double-quote-string-fixer * consider COLCON_IGNORE file when seaching modified package * format file * pre-commit fixes * Update pre-commit.yml * Update .pre-commit-config.yaml Co-authored-by: Kazuki Miyahara Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Add markdownlint and prettier (#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake * Ignore .param.yaml Signed-off-by: Kenji Miyake * Apply format Signed-off-by: Kenji Miyake * suppress warnings for declare parameters (#1724) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor * fix for dummy diag publisher * fix for remote cmd converter * fix for vehicle_info_util * fix for multi object tracker * fix for freespace planner * fix for autoware_error_monitor * add Werror for multi object tracker * fix for multi object tracker * add Werror for liraffic light ssd fine detector * add Werror for topic state monitor * add Werror * add Werror * add Werror * add Werror * fix style * Fix -Wunused-parameter (#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake * Fix mistake Signed-off-by: Kenji Miyake * fix spell * Fix lint issues Signed-off-by: Kenji Miyake * Ignore flake8 warnings Signed-off-by: Kenji Miyake Co-authored-by: Hiroki OTA * Fix clang warnings (#1859) * Fix -Wreturn-std-move Signed-off-by: Kenji Miyake * Fix -Wunused-private-field Signed-off-by: Kenji Miyake * Ignore -Wnonportable-include-path for mussp Signed-off-by: Kenji Miyake * Fix -Wunused-const-variable Signed-off-by: Kenji Miyake * Fix "can not be used when making a shared object" Signed-off-by: Kenji Miyake * Feature/porting modify tracker life cycle (#1675) * Modify tracker life cycle (#1462) * add z lpf Signed-off-by: Yukihiro Saito * modify life cycle Signed-off-by: Yukihiro Saito * refactor * apply format * fix typo * add read me * fix typo * change readme * modify readme * fix typo * cosmetic change * cosmetic change * refactor and change removal conditions * cosmetic change * add note * bug fix * change specific alive pattern * format code Co-authored-by: Takamasa Horibe * Apply lint Signed-off-by: wep21 * pre-commit fixes Signed-off-by: wep21 * fix bug Co-authored-by: Yukihiro Saito Co-authored-by: Takamasa Horibe Co-authored-by: tkimura4 * Detection by tracker (#1910) * initial commit * backup * apply format * cosmetic change * implement divided under segmenterd clusters * cosmetic change * bug fix * bug fix * bug fix * modify launch * add debug and bug fix * bug fix * bug fix * add no found tracked object * modify parameters and cmake * bug fix * remove debug info * add readme * modify clustering launch * run pre-commit * cosmetic change * cosmetic change * cosmetic change * apply markdownlint * modify launch * modify for cpplint * modify qos * change int to size_T * bug fix * change perception qos * Update perception/object_recognition/detection/detection_by_tracker/package.xml Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * cosmetic change * cosmetic change * fix launch * Update perception/object_recognition/detection/detection_by_tracker/src/utils.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * modify header include order * change include order * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * change to std::optional * cosmetic change * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * bug fix * modify readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Change formatter to clang-format and black (#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake * Apply Black Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Add COLCON_IGNORE (#500) Signed-off-by: Kenji Miyake * Port multi object tracker for autoware_auto_msgs (#526) * backup * backup * backup * add todo author * apply pre-commit * remove COLCON_IGNORE * fix: fix README.md * ci(pre-commit): autofix * Apply suggestions from code review Co-authored-by: mitsudome-r Co-authored-by: Nikolai Morin Co-authored-by: Jilada Eccleston Co-authored-by: Takamasa Horibe Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Kazuki Miyahara Co-authored-by: Yukihiro Saito Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Kosuke Murakami Co-authored-by: tkimura4 Co-authored-by: Yusuke Muramatsu Co-authored-by: Keisuke Shima Co-authored-by: shin <8327162+0x126@users.noreply.github.com> Co-authored-by: Fumiya Watanabe Co-authored-by: Hiroki OTA Co-authored-by: Kenji Miyake Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: pre-commit Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat: add imu_corrector package (#28) * Feature/imu corrector (#1587) * add imu_corrector * add reamdme * modify reamdme * fix typo * add explicit * apply clang-format * add unit * remove unneccessary lines * remove unneccessary lines * pre-commit fixes Signed-off-by: wep21 * update readme * pre-commit fixes Co-authored-by: wep21 Co-authored-by: pre-commit * imu corrector param units and link (#1791) * fix unit * fix link * fix format * Fix -Wunused-parameter (#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake * Fix mistake Signed-off-by: Kenji Miyake * fix spell * Fix lint issues Signed-off-by: Kenji Miyake * Ignore flake8 warnings Signed-off-by: Kenji Miyake Co-authored-by: Hiroki OTA * Change formatter to clang-format and black (#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake * Apply Black Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake * Apply clang-format Signed-off-by: Kenji Miyake * Fix build errors Signed-off-by: Kenji Miyake * Add COLCON_IGNORE (#500) Signed-off-by: Kenji Miyake * remove COLCON_IGNORE (#515) * Remove template comments from node documents (#608) * rename document file * remove template comment Co-authored-by: YamatoAndo Co-authored-by: wep21 Co-authored-by: pre-commit Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Tomoya Kimura Co-authored-by: tkimura4 Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: mitsudome-r Co-authored-by: Nikolai Morin Co-authored-by: Jilada Eccleston Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Takamasa Horibe Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Taichi Higashide Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: Kosuke Murakami Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Maxime CLEMENT Co-authored-by: Joshua Whitley Co-authored-by: Igor Bogoslavskyi Co-authored-by: MIURA Yasuyuki Co-authored-by: wep21 Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Kazuki Miyahara Co-authored-by: Yukihiro Saito Co-authored-by: Yusuke Muramatsu Co-authored-by: Keisuke Shima Co-authored-by: shin <8327162+0x126@users.noreply.github.com> Co-authored-by: Fumiya Watanabe Co-authored-by: Kenji Miyake Co-authored-by: pre-commit Co-authored-by: YamatoAndo Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> --- .../CMakeLists.txt | 31 ++++++++++++ .../detected_object_feature_remover/README.md | 27 +++++++++++ .../detected_object_feature_remover.hpp | 42 ++++++++++++++++ ...detected_object_feature_remover.launch.xml | 10 ++++ .../package.xml | 23 +++++++++ .../src/detected_object_feature_remover.cpp | 48 +++++++++++++++++++ 6 files changed, 181 insertions(+) create mode 100644 perception/detected_object_feature_remover/CMakeLists.txt create mode 100644 perception/detected_object_feature_remover/README.md create mode 100644 perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp create mode 100644 perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml create mode 100644 perception/detected_object_feature_remover/package.xml create mode 100644 perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp diff --git a/perception/detected_object_feature_remover/CMakeLists.txt b/perception/detected_object_feature_remover/CMakeLists.txt new file mode 100644 index 0000000000000..bcb9165ed5b6d --- /dev/null +++ b/perception/detected_object_feature_remover/CMakeLists.txt @@ -0,0 +1,31 @@ +cmake_minimum_required(VERSION 3.5) +project(detected_object_feature_remover) + +### Compile options +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Werror) +endif() + +### Dependencies +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +# Generate exe file +ament_auto_add_library(detected_object_feature_remover_node SHARED + src/detected_object_feature_remover.cpp +) + +rclcpp_components_register_node(detected_object_feature_remover_node + PLUGIN "detected_object_feature_remover::DetectedObjectFeatureRemover" + EXECUTABLE detected_object_feature_remover +) + +ament_auto_package( + INSTALL_TO_SHARE + launch +) diff --git a/perception/detected_object_feature_remover/README.md b/perception/detected_object_feature_remover/README.md new file mode 100644 index 0000000000000..dd98f13c1599a --- /dev/null +++ b/perception/detected_object_feature_remover/README.md @@ -0,0 +1,27 @@ +# detected_object_feature_remover + +## Purpose + +The `detected_object_feature_remover` is a package to convert topic-type from `DetectedObjectWithFeatureArray` to `DetectedObjects`. + +## Inner-workings / Algorithms + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| --------- | --------------------------------------------------------------- | ----------------------------------- | +| `~/input` | `autoware_perception_msgs::msg::DetectedObjectWithFeatureArray` | detected objects with feature field | + +### Output + +| Name | Type | Description | +| ---------- | ----------------------------------------------------- | ---------------- | +| `~/output` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects | + +## Parameters + +None + +## Assumptions / Known limits diff --git a/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp b/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp new file mode 100644 index 0000000000000..74bb5df0f9752 --- /dev/null +++ b/perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp @@ -0,0 +1,42 @@ +// Copyright 2021 Tier IV, Inc. +// +// 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. + +#ifndef DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_ +#define DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_ + +#include + +#include +#include + +namespace detected_object_feature_remover +{ +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_perception_msgs::msg::DetectedObjectsWithFeature; + +class DetectedObjectFeatureRemover : public rclcpp::Node +{ +public: + explicit DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options); + +private: + rclcpp::Subscription::SharedPtr sub_; + rclcpp::Publisher::SharedPtr pub_; + void objectCallback(const DetectedObjectsWithFeature::ConstSharedPtr input); + void convert(const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs); +}; + +} // namespace detected_object_feature_remover + +#endif // DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_ diff --git a/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml b/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml new file mode 100644 index 0000000000000..81684ebd20eb4 --- /dev/null +++ b/perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml new file mode 100644 index 0000000000000..4b54614f56035 --- /dev/null +++ b/perception/detected_object_feature_remover/package.xml @@ -0,0 +1,23 @@ + + + detected_object_feature_remover + 0.1.0 + The detected_object_feature_remover package + Tomoya Kimura + Apache License 2.0 + + ament_cmake + + autoware_auto_perception_msgs + autoware_perception_msgs + rclcpp + rclcpp_components + + ament_cmake_gtest + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp b/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp new file mode 100644 index 0000000000000..d1e007d7ef65f --- /dev/null +++ b/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp @@ -0,0 +1,48 @@ +// Copyright 2021 Tier IV, Inc. +// +// 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. + +#include + +namespace detected_object_feature_remover +{ +DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options) +: Node("detected_object_feature_remover", node_options) +{ + using std::placeholders::_1; + pub_ = this->create_publisher("~/output", rclcpp::QoS(1)); + sub_ = this->create_subscription( + "~/input", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1)); +} + +void DetectedObjectFeatureRemover::objectCallback( + const DetectedObjectsWithFeature::ConstSharedPtr input) +{ + DetectedObjects output; + convert(*input, output); + pub_->publish(output); +} + +void DetectedObjectFeatureRemover::convert( + const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs) +{ + objs.header = objs_with_feature.header; + for (const auto & obj_with_feature : objs_with_feature.feature_objects) { + objs.objects.emplace_back(obj_with_feature.object); + } +} + +} // namespace detected_object_feature_remover + +#include +RCLCPP_COMPONENTS_REGISTER_NODE(detected_object_feature_remover::DetectedObjectFeatureRemover)