Merge pull request #1 from autowarefoundation/master

Merge left over features from around the 1.11 release (autowarefoundation#2151)

docs/quick_start/my_mission_planning.launch

@@ -17,7 +17,7 @@
 
   <!-- waypoint_loader -->
   <node pkg="rostopic" type="rostopic" name="config_waypoint_loader_rostopic"
-        args="pub -l /config/waypoint_loader autoware_msgs/ConfigWaypointLoader
+        args="pub -l /config/waypoint_loader autoware_config_msgs/ConfigWaypointLoader
         '{multi_lane_csv: '$(env HOME)/.autoware/data/path/moriyama_path.txt', replanning_mode: false, velocity_max: 20.0, velocity_min: 4.0, accel_limit: 0.98, decel_limit: 0.98, radius_thresh: 20.0, radius_min: 6.0, resample_mode: true, resample_interval: 1.0, velocity_offset: 4, end_point_offset: 5}' "
   />
   <include file="$(find waypoint_maker)/launch/waypoint_loader.launch" />

ros/run

@@ -6,20 +6,10 @@ MY_PATH=$(readlink -f  $(dirname $0))
 OPTION_WORKING_DIR='--working-directory'
 OPTION_CORE_GEOMETRY='--geometry=50x10+0+0'
 OPTION_RM_GEOMETRY='--geometry=50x10+500+0'
+OPTION_TITLE='--title'
 OPTION_COMMAND='--command'
 
-
-MASTER_DISPLAY_OPTION="${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}\=\"roscore\""
-RUNMGR_DISPLAY_OPTION="${OPTION_RM_GEOMETRY} ${OPTION_TITLE}\=\"runtime_manager\""
-
-if [ $(which gnome-terminal) ]; then
-    TERMINAL=gnome-terminal
-    GNOME_VERSION=$(gnome-terminal --version | cut -d '.' -f 2)
-    if [ ${GNOME_VERSION} -ge 14 ]; then
-	MASTER_DISPLAY_OPTION=''
-	RUNMGR_DISPLAY_OPTION=''
-    fi
-elif [ $(which mate-terminal) ]; then
+if [ $(which mate-terminal) ]; then
     TERMINAL=mate-terminal
 elif [ $(which xfce4-terminal) ]; then
     TERMINAL=xfce4-terminal
@@ -35,6 +25,20 @@ elif [ $(which konsole) ]; then
     OPTION_TITLE='-T'
 fi
 
+MASTER_DISPLAY_OPTION="${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}=\"roscore\""
+RUNMGR_DISPLAY_OPTION="${OPTION_RM_GEOMETRY} ${OPTION_TITLE}=\"runtime_manager\""
+
+if [ $(which gnome-terminal) ]; then
+    TERMINAL=gnome-terminal
+    GNOME_VERSION=$(gnome-terminal --version | cut -d '.' -f 2)
+    if [ ${GNOME_VERSION} -ge 14 ]; then
+	MASTER_DISPLAY_OPTION=''
+	RUNMGR_DISPLAY_OPTION=''
+    fi
+fi
+
+echo "Process Manager"
+
 sudo bash -c "$MY_PATH/run_proc_manager &"
 
 ADDR=$($MY_PATH/src/.config/rviz/subnet_chk.py -)

ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/src/rect_class_score.h

@@ -106,7 +106,7 @@ template<typename _Tp> class RectClassScore
             case Yolo3::KEYBOARD: return "keyboard";
             case Yolo3::CELL_PHONE: return "cellphone";
             case Yolo3::MICROWAVE: return "microwave";
-            case Yolo3::OVEN: return "over";
+            case Yolo3::OVEN: return "oven";
             case Yolo3::TOASTER: return "toaster";
             case Yolo3::SINK: return "sink";
             case Yolo3::REFRIGERATOR: return "refrigerator";

ros/src/computing/planning/common/lib/openplanner/op_planner/src/DecisionMaker.cpp

@@ -381,7 +381,7 @@ void DecisionMaker::InitBehaviorStates()
 
 		double deceleration_critical = 0;
 		double inv_time = 2.0*((beh.followDistance- (critical_long_front_distance+m_params.additionalBrakingDistance))-CurrStatus.speed);
-		if(inv_time == 0)
+		if(inv_time <= 0)
 			deceleration_critical = m_CarInfo.max_deceleration;
 		else
 			deceleration_critical = CurrStatus.speed*CurrStatus.speed/inv_time;

ros/src/sensing/filters/packages/points_preprocessor/interface.yaml

@@ -14,5 +14,5 @@
   publish: [/points_clipped]
   subscribe: [/points_raw]
 - name: /compare_map_filter
-  publish: [/match_points, /unmatch_points]
-  subscribe: [/points_raw, /points_map]
+  publish: [/points_ground, /points_no_ground]
+  subscribe: [/config/compare_map_filter, /points_raw, /points_map]

ros/src/sensing/filters/packages/points_preprocessor/launch/compare_map_filter.launch

@@ -1,18 +1,18 @@
 <launch>
 	<arg name="input_point_topic" default="/points_raw" />
 	<arg name="input_map_topic" default="/points_map" />
-	<arg name="output_match_topic" default="/match_points" />
-	<arg name="output_unmatch_topic" default="/unmatch_points" />
+	<arg name="output_match_topic" default="/points_ground" />
+	<arg name="output_unmatch_topic" default="/points_no_ground" />
 
-	<arg name="distance_threshold" default="0.2" />
+	<arg name="distance_threshold" default="0.3" />
 	<arg name="min_clipping_height" default="-2.0" />
 	<arg name="max_clipping_height" default="0.5" />
 
 	<node pkg="points_preprocessor" type="compare_map_filter" name="compare_map_filter">
 		<remap from="/points_raw" to="$(arg input_point_topic)"/>
 		<remap from="/points_map" to="$(arg input_map_topic)"/>
-		<remap from="/match_points" to="$(arg output_match_topic)"/>
-		<remap from="/unmatch_points" to="$(arg output_unmatch_topic)"/>
+		<remap from="/points_ground" to="$(arg output_match_topic)"/>
+		<remap from="/points_no_ground" to="$(arg output_unmatch_topic)"/>
 
 		<param name="distance_threshold" value="$(arg distance_threshold)" />
 		<param name="min_clipping_height" value="$(arg min_clipping_height)" />

ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/README.md

@@ -26,7 +26,7 @@ Launch file available parameters:
 |`input_map_topic`|*String*|PointCloud Map topic. Default `/points_map`.|
 |`output_match_topic`|*String*|Comparing LiDAR PointCloud and PointCloud Map, topic of the PointCloud which matched. Default `/match_points`.|
 |`output_unmatch_topic`|*String*|Comparing LiDAR PointCloud and PointCloud Map, topic of the PointCloud which unmatched. Default `/unmatch_points`.|
-|`distance_threshold`|*Double*|Threshold for comparing LiDAR PointCloud and PointCloud Map. Euclidean distance (mether).  Default `0.2`.|
+|`distance_threshold`|*Double*|Threshold for comparing LiDAR PointCloud and PointCloud Map. Euclidean distance (mether).  Default `0.3`.|
 |`min_clipping_height`|*Double*|Remove the points where the height is lower than the threshold. (Based on sensor coordinates). Default `-2.0`.|
 |`max_clipping_height`|*Double*|Remove the points where the height is higher than the threshold. (Based on sensor coordinates). Default `0.5`.|
 

ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/compare_map_filter.cpp

@@ -79,7 +79,7 @@ CompareMapFilter::CompareMapFilter()
   : nh_()
   , nh_private_("~")
   , tf_listener_(new tf::TransformListener)
-  , distance_threshold_(0.2)
+  , distance_threshold_(0.3)
   , min_clipping_height_(-2.0)
   , max_clipping_height_(0.5)
   , map_frame_("/map")
@@ -196,10 +196,12 @@ void CompareMapFilter::searchMatchingCloud(const pcl::PointCloud<pcl::PointXYZI>
 
   std::vector<int> nn_indices(1);
   std::vector<float> nn_dists(1);
+  const double squared_distance_threshold = distance_threshold_ * distance_threshold_;
+
   for (size_t i = 0; i < in_cloud_ptr->points.size(); ++i)
   {
     tree_.nearestKSearch(in_cloud_ptr->points[i], 1, nn_indices, nn_dists);
-    if (nn_dists[0] <= distance_threshold_)
+    if (nn_dists[0] <= squared_distance_threshold)
     {
       match_cloud_ptr->points.push_back(in_cloud_ptr->points[i]);
     }

ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt

@@ -70,3 +70,7 @@ catkin_install_python(PROGRAMS
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
         PATTERN ".svn" EXCLUDE)
+
+install(DIRECTORY docs/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/docs
+        PATTERN ".svn" EXCLUDE)

ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp

@@ -165,7 +165,7 @@ void Autoware_Rosbag_Plugin::on_button_record_start_clicked()
 
   /* Caculate max split size */
   if (split_size != 0 && ui->checkBox_split_size->isChecked())
-    recoParam.max_size = ceil(split_size * 1048576 * 1024);
+    recoParam.max_size = ceil(split_size * 1000 * 1000 * 1000);
   else
     recoParam.max_size = 0;
 
@@ -243,7 +243,7 @@ int Autoware_Rosbag_Plugin::recordReq( RecordParam &recoParam )
   ROS_INFO("%s L.%d -   chunk_size      [%d]", __FUNCTION__, __LINE__, recorder_opts_->chunk_size);
   ROS_INFO("%s L.%d -   limit           [%d]", __FUNCTION__, __LINE__, recorder_opts_->limit);
   ROS_INFO("%s L.%d -   split           [%d]", __FUNCTION__, __LINE__, recorder_opts_->split);
-  ROS_INFO("%s L.%d -   max_size        [%.2fGB]", __FUNCTION__, __LINE__, recorder_opts_->max_size / 1048576.0 / 1024.0);
+  ROS_INFO("%s L.%d -   max_size        [%.2fGB]", __FUNCTION__, __LINE__, recorder_opts_->max_size / 1000.0 / 1000.0 / 1000.0);
   ROS_INFO("%s L.%d -   max_duration    [%.1fmin]", __FUNCTION__, __LINE__, recorder_opts_->max_duration.toSec() / 60.0 );
   ROS_INFO("%s L.%d -   node            [%s]", __FUNCTION__, __LINE__, recorder_opts_->node.c_str() );
   ROS_INFO("%s L.%d -   min_space       [%d]", __FUNCTION__, __LINE__, recorder_opts_->min_space );

ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h

@@ -69,7 +69,7 @@ class Autoware_Rosbag_Plugin : public rviz::Panel
       std::string filename;
       std::vector<std::string> topics;
       int max_duration;
-      uint32_t max_size;
+      uint64_t max_size;
     } RecordParam;
 
 protected:

ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h

@@ -118,7 +118,7 @@ struct ROSBAG_DECL RecorderOptions
     uint32_t        chunk_size;
     uint32_t        limit;
     bool            split;
-    uint32_t        max_size;
+    uint64_t        max_size;
     uint32_t        max_splits;
     ros::Duration   max_duration;
     std::string     node;

ros/src/util/packages/runtime_manager/scripts/sensing.yaml

@@ -1411,7 +1411,7 @@ params :
       label : distance_threshold
       min   : 0.01
       max   : 100
-      v     : 0.2
+      v     : 0.3
       cmd_param :
         dash        : ''
         delim       : ':='

ros/src/vehicle/vehicle_description/launch/lexus.launch

@@ -0,0 +1,19 @@
+<!-- -->
+<launch>
+  <arg name="base_frame" default="/base_link"/>
+  <arg name="topic_name" default="vehicle_model"/>
+  <arg name="offset_x" default="1.2"/>
+  <arg name="offset_y" default="0.0"/>
+  <arg name="offset_z" default="0.0"/>
+  <arg name="offset_roll" default="0.0"/> <!-- degree -->
+  <arg name="offset_pitch" default="0.0"/> <!-- degree -->
+  <arg name="offset_yaw" default="0.0"/> <!-- degree -->
+  <arg name="model_path" default="$(find vehicle_description)/urdf/lexus.urdf" />
+  <arg name="gui" default="False" />
+
+  <param name="robot_description" textfile="$(arg model_path)" />
+  <param name="use_gui" value="$(arg gui)"/>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+
+</launch>

ros/src/vehicle/vehicle_description/urdf/lexus.urdf

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="car">
+  <link name="base_link">
+    <visual name="base_visual">
+      <origin xyz="1 0 0.0" rpy="1.57 0 3.14" />
+      <geometry>
+        <mesh filename="package://vehicle_description/mesh/lexus.dae" scale="1.0 1.0 1.0"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>