From bea243d035022bca55b4ad434785c25e10bee39f Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 14 Dec 2021 11:46:36 +0900 Subject: [PATCH] feat: add localization_launch package (#171) * release v0.4.0 * removed ROS1 package Signed-off-by: mitsudome-r * Revert "removed ROS1 package" This reverts commit efeb029d17c4fb14de1542512574742a4cb05de8. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r * Port localization_launch to ros2 * fix syntax (#33) Signed-off-by: Takamasa Horibe * ROS2 Linting: localization_launch (#39) * Add linters to localization_launch package * Add new line * Fix indentation * Ros2 v0.8.0 localization launch (#54) * restore file name for v0.8.0 update in localization launch Signed-off-by: Takamasa Horibe * add random sample (#84) Signed-off-by: Yamato Ando * Add ndt_scan_matcher.yaml (#162) Signed-off-by: Yuma Nihei * ]Revert "restore file name for v0.8.0 update in localization launch" This reverts commit f589733f7dad05989bde323baeb5c43a62cd26e1. * fix param type Signed-off-by: Takamasa Horibe * fix exec name Signed-off-by: Takamasa Horibe Co-authored-by: YamatoAndo Co-authored-by: Yuma Nihei * Rename ROS-related .yaml to .param.yaml (#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake * Add missing '--' Signed-off-by: Kenji Miyake * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake * Fix livox param name Signed-off-by: Kenji Miyake * add localization_error_monitor launch (#75) * Fix various typos in launch files (#97) * add use_sim-time option (#99) * Replace doc by description (#182) Signed-off-by: Kenji Miyake * Ros2 lsim test (#186) * Add group to launch file for var scope Signed-off-by: Takagi, Isamu * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu * Add use_sim_time Signed-off-by: Takagi, Isamu * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu Co-authored-by: Takagi, Isamu * Fix invalid attribute in twist estimator launch (#192) Signed-off-by: wep21 * Localization util preprocessor component (#188) Signed-off-by: wep21 * Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 * Add default parameter for scenario simulator Signed-off-by: wep21 * Fix depends in localization_launch to exec_depend (#223) Signed-off-by: Kenji Miyake * Fix typos in launch files (#231) * Fix typos in launch files Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: wep21 Co-authored-by: wep21 * Format launch files (#228) * Format launch files Signed-off-by: Kenji Miyake * Format launch.py Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: Kenji Miyake * Enable intra process and mt (#204) Signed-off-by: wep21 * Load output_measurement_range_sensor_points_topic param (#271) Signed-off-by: kosuke55 * use_twist_with_covariance is false (#295) * add description for localization_launch (#332) * add description * fix sentence * add README.md and svg files (#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Feature/expand footprint launcher (#318) * Add autoware api (#376) * Add external api adaptor (#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu * Add engage status output Signed-off-by: Takagi, Isamu * Add internal api adaptor (#273) Signed-off-by: Takagi, Isamu * Add map hash generator (#319) Signed-off-by: Takagi, Isamu * Add autoware api launch (#326) * Add autoware api launch Signed-off-by: Takagi, Isamu * Apply autoware api launch Signed-off-by: Takagi, Isamu * Add deprecated comment Signed-off-by: Takagi, Isamu * Remove unused parameter (#325) Signed-off-by: Takagi, Isamu * Add api parameter (#341) Signed-off-by: Takagi, Isamu * Add start request API (#321) * Add use start request option Signed-off-by: Takagi, Isamu * Fix lint Signed-off-by: Takagi, Isamu * Feature external cmd selector heartbeat (#356) * Rename external command topic Signed-off-by: Takagi, Isamu * Modify command topic name Signed-off-by: Takagi, Isamu * Fix topic name Signed-off-by: Takagi, Isamu * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu * Remove gate mode from external command Signed-off-by: Takagi, Isamu * Fix latest external command name (#361) Signed-off-by: Takagi, Isamu * Fix merge conflict Signed-off-by: Takagi, Isamu * change external traffic light topic name in behavior velocity planner (#310) * fix topic * change internal topic name Co-authored-by: yabuta * added stop filter launch in localization_launch (#270) * Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake * Fix package.xml Signed-off-by: Kenji Miyake * modify util.launch in localization_launch #396 * add localization error monitor param (#431) * add environment_name parameter into localization launch (#175) (#293) * add environment_name parameter into localization launch (#175) * add environment_name parameter into localization launch change launcher parameters of crop_box_filter_mesurement_range and voxel_grid_filter to yaml file Signed-off-by: Azumi Suzuki * change param file directory name Signed-off-by: Azumi Suzuki * Remove redundant comments Signed-off-by: wep21 Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> * delete environment name (#428) * Change formatter to black (#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * porting localization (#121) * porting localization * fixed odometry in ekf * fixed vehicle twist topic name Co-authored-by: mitsudome-r Co-authored-by: Yunus Emre Caliskan Co-authored-by: Takamasa Horibe Co-authored-by: Jilada Eccleston Co-authored-by: YamatoAndo Co-authored-by: Yuma Nihei Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Taichi Higashide Co-authored-by: Kazuki Miyahara Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Takagi, Isamu Co-authored-by: wep21 Co-authored-by: Kosuke Takeuchi Co-authored-by: Hiroki OTA Co-authored-by: Kosuke Murakami Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: yabuta Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> Co-authored-by: Kenji Miyake Co-authored-by: RyuYamamoto Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> --- launch/localization_launch/CMakeLists.txt | 22 + launch/localization_launch/README.md | 26 + ...op_box_filter_measurement_range.param.yaml | 11 + .../config/ndt_scan_matcher.param.yaml | 34 ++ .../random_downsample_filter.param.yaml | 3 + .../config/voxel_grid_filter.param.yaml | 5 + .../launch/localization.launch.xml | 34 ++ .../localization_error_monitor.launch.xml | 11 + .../pose_estimator/pose_estimator.launch.xml | 17 + .../pose_twist_fusion_filter.launch.xml | 30 + .../twist_estimator.launch.xml | 11 + .../launch/util/util.launch.py | 135 +++++ .../launch/util/util.launch.xml | 22 + .../localization_launch.drawio.svg | 530 ++++++++++++++++++ launch/localization_launch/package.xml | 27 + 15 files changed, 918 insertions(+) create mode 100644 launch/localization_launch/CMakeLists.txt create mode 100644 launch/localization_launch/README.md create mode 100644 launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml create mode 100644 launch/localization_launch/config/ndt_scan_matcher.param.yaml create mode 100644 launch/localization_launch/config/random_downsample_filter.param.yaml create mode 100644 launch/localization_launch/config/voxel_grid_filter.param.yaml create mode 100644 launch/localization_launch/launch/localization.launch.xml create mode 100644 launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml create mode 100644 launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml create mode 100644 launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml create mode 100644 launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml create mode 100644 launch/localization_launch/launch/util/util.launch.py create mode 100644 launch/localization_launch/launch/util/util.launch.xml create mode 100644 launch/localization_launch/localization_launch.drawio.svg create mode 100644 launch/localization_launch/package.xml diff --git a/launch/localization_launch/CMakeLists.txt b/launch/localization_launch/CMakeLists.txt new file mode 100644 index 0000000000000..9815ea4b7c625 --- /dev/null +++ b/launch/localization_launch/CMakeLists.txt @@ -0,0 +1,22 @@ +cmake_minimum_required(VERSION 3.5) +project(localization_launch) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) +endif() + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/launch/localization_launch/README.md b/launch/localization_launch/README.md new file mode 100644 index 0000000000000..959768012cf53 --- /dev/null +++ b/launch/localization_launch/README.md @@ -0,0 +1,26 @@ +# localization_launch + +## Structure + +![localization_launch](./localization_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +You can include as follows in `*.launch.xml` to use `localization.launch.xml`. + +```xml + + +``` + +## Notes + +There are some `param.yaml` files in `config` directory. + +```bash +ndt_scan_matcher.param.yaml +``` diff --git a/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml b/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml new file mode 100644 index 0000000000000..ad5542315410e --- /dev/null +++ b/launch/localization_launch/config/crop_box_filter_measurement_range.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + min_x: -60.0 + max_x: 60.0 + min_y: -60.0 + max_y: 60.0 + min_z: -30.0 + max_z: 50.0 + negative: False diff --git a/launch/localization_launch/config/ndt_scan_matcher.param.yaml b/launch/localization_launch/config/ndt_scan_matcher.param.yaml new file mode 100644 index 0000000000000..0448d1fc63973 --- /dev/null +++ b/launch/localization_launch/config/ndt_scan_matcher.param.yaml @@ -0,0 +1,34 @@ +/**: + ros__parameters: + # Vehicle reference frame + base_frame: "base_link" + + # Subscriber queue size + input_sensor_points_queue_size: 1 + + # NDT implementation type + # 0=PCL_GENERIC, 1=PCL_MODIFIED, 2=OMP + ndt_implement_type: 2 + + # The maximum difference between two consecutive + # transformations in order to consider convergence + trans_epsilon: 0.01 + + # The newton line search maximum step length + step_size: 0.1 + + # The ND voxel grid resolution + resolution: 2.0 + + # The number of iterations required to calculate alignment + max_iterations: 30 + + # Threshold for deciding whether to trust the estimation result + converged_param_transform_probability: 3.0 + + # neighborhood search method in OMP + # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1 + omp_neighborhood_search_method: 0 + + # Number of threads used for parallel computing + omp_num_threads: 4 diff --git a/launch/localization_launch/config/random_downsample_filter.param.yaml b/launch/localization_launch/config/random_downsample_filter.param.yaml new file mode 100644 index 0000000000000..53be849e0af22 --- /dev/null +++ b/launch/localization_launch/config/random_downsample_filter.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + sample_num: 1500 diff --git a/launch/localization_launch/config/voxel_grid_filter.param.yaml b/launch/localization_launch/config/voxel_grid_filter.param.yaml new file mode 100644 index 0000000000000..51a7ee9d89b6b --- /dev/null +++ b/launch/localization_launch/config/voxel_grid_filter.param.yaml @@ -0,0 +1,5 @@ +/**: + ros__parameters: + voxel_size_x: 3.0 + voxel_size_y: 3.0 + voxel_size_z: 3.0 diff --git a/launch/localization_launch/launch/localization.launch.xml b/launch/localization_launch/launch/localization.launch.xml new file mode 100644 index 0000000000000..3deae2b0e49cd --- /dev/null +++ b/launch/localization_launch/launch/localization.launch.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml b/launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml new file mode 100644 index 0000000000000..d2ea9ced7b271 --- /dev/null +++ b/launch/localization_launch/launch/localization_error_monitor/localization_error_monitor.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml new file mode 100644 index 0000000000000..c3f35464e4b2f --- /dev/null +++ b/launch/localization_launch/launch/pose_estimator/pose_estimator.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml new file mode 100644 index 0000000000000..be07542d16ab1 --- /dev/null +++ b/launch/localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml new file mode 100644 index 0000000000000..76d0a73dbcf05 --- /dev/null +++ b/launch/localization_launch/launch/twist_estimator/twist_estimator.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/launch/localization_launch/launch/util/util.launch.py b/launch/localization_launch/launch/util/util.launch.py new file mode 100644 index 0000000000000..b6f66fa19e8f8 --- /dev/null +++ b/launch/localization_launch/launch/util/util.launch.py @@ -0,0 +1,135 @@ +# Copyright 2020 Tier IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.conditions import LaunchConfigurationNotEquals +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare +import yaml + + +def launch_setup(context, *args, **kwargs): + # https://github.com/ros2/launch_ros/issues/156 + def load_composable_node_param(param_path): + with open(LaunchConfiguration(param_path).perform(context), "r") as f: + return yaml.safe_load(f)["/**"]["ros__parameters"] + + crop_box_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name="crop_box_filter_measurement_range", + remappings=[ + ("input", LaunchConfiguration("input_sensor_points_topic")), + ("output", LaunchConfiguration("output_measurement_range_sensor_points_topic")), + ], + parameters=[ + load_composable_node_param("crop_box_filter_measurement_range_param_path"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + voxel_grid_downsample_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="voxel_grid_downsample_filter", + remappings=[ + ("input", LaunchConfiguration("output_measurement_range_sensor_points_topic")), + ("output", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")), + ], + parameters=[load_composable_node_param("voxel_grid_downsample_filter_param_path")], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + random_downsample_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="random_downsample_filter", + remappings=[ + ("input", LaunchConfiguration("output_voxel_grid_downsample_sensor_points_topic")), + ("output", LaunchConfiguration("output_downsample_sensor_points_topic")), + ], + parameters=[load_composable_node_param("random_downsample_filter_param_path")], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + composable_nodes = [ + crop_box_component, + voxel_grid_downsample_component, + random_downsample_component, + ] + + load_composable_nodes = LoadComposableNodes( + condition=LaunchConfigurationNotEquals("container", ""), + composable_node_descriptions=composable_nodes, + target_container=LaunchConfiguration("container"), + ) + + return [load_composable_nodes] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None, description=None): + arg = DeclareLaunchArgument(name, default_value=default_value, description=description) + launch_arguments.append(arg) + + add_launch_arg( + "crop_box_filter_measurement_range_param_path", + [ + FindPackageShare("localization_launch"), + "/config/crop_box_filter_measurement_range.param.yaml", + ], + "path to the parameter file of crop_box_filter_measurement_range", + ) + add_launch_arg( + "voxel_grid_downsample_filter_param_path", + [FindPackageShare("localization_launch"), "/config/voxel_grid_filter.param.yaml"], + "path to the parameter file of voxel_grid_downsample_filter", + ) + add_launch_arg( + "random_downsample_filter_param_path", + [FindPackageShare("localization_launch"), "/config/random_downsample_filter.param.yaml"], + "path to the parameter file of random_downsample_filter", + ) + add_launch_arg("use_intra_process", "true", "use ROS2 component container communication") + add_launch_arg( + "container", + "/sensing/lidar/top/pointcloud_preprocessor/velodyne_node_container", + "container name", + ) + add_launch_arg( + "input_sensor_points_topic", + "/sensing/lidar/top/rectified/pointcloud", + "input topic name for raw pointcloud", + ) + add_launch_arg( + "output_measurement_range_sensor_points_topic", + "measurement_range/pointcloud", + "output topic name for crop box filter", + ) + add_launch_arg( + "output_voxel_grid_downsample_sensor_points_topic", + "voxel_grid_downsample/pointcloud", + "output topic name for voxel grid downsample filter", + ) + add_launch_arg( + "output_downsample_sensor_points_topic", + "downsample/pointcloud", + "output topic name for downsample filter. this is final output", + ) + + return launch.LaunchDescription(launch_arguments + [OpaqueFunction(function=launch_setup)]) diff --git a/launch/localization_launch/launch/util/util.launch.xml b/launch/localization_launch/launch/util/util.launch.xml new file mode 100644 index 0000000000000..6d2cc29549aa6 --- /dev/null +++ b/launch/localization_launch/launch/util/util.launch.xml @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/localization_launch/localization_launch.drawio.svg b/launch/localization_launch/localization_launch.drawio.svg new file mode 100644 index 0000000000000..1bde302430e9e --- /dev/null +++ b/launch/localization_launch/localization_launch.drawio.svg @@ -0,0 +1,530 @@ + + + + + + + +
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