diff --git a/docs/quick_start/my_mission_planning.launch b/docs/quick_start/my_mission_planning.launch
index 447c791ba53..e82b28e110f 100644
--- a/docs/quick_start/my_mission_planning.launch
+++ b/docs/quick_start/my_mission_planning.launch
@@ -17,7 +17,7 @@
diff --git a/ros/run b/ros/run
index 34c950eda52..1132534eb26 100755
--- a/ros/run
+++ b/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 -)
diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/src/rect_class_score.h b/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/src/rect_class_score.h
index 3816e685a22..f8d1fd8d4b6 100644
--- a/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/src/rect_class_score.h
+++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_darknet_detect/src/rect_class_score.h
@@ -106,7 +106,7 @@ template 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";
diff --git a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/DecisionMaker.cpp b/ros/src/computing/planning/common/lib/openplanner/op_planner/src/DecisionMaker.cpp
index a858880cb38..b94d015eb75 100755
--- a/ros/src/computing/planning/common/lib/openplanner/op_planner/src/DecisionMaker.cpp
+++ b/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;
diff --git a/ros/src/sensing/filters/packages/points_preprocessor/interface.yaml b/ros/src/sensing/filters/packages/points_preprocessor/interface.yaml
index 3b8a34e8d74..906e9e288ab 100644
--- a/ros/src/sensing/filters/packages/points_preprocessor/interface.yaml
+++ b/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]
diff --git a/ros/src/sensing/filters/packages/points_preprocessor/launch/compare_map_filter.launch b/ros/src/sensing/filters/packages/points_preprocessor/launch/compare_map_filter.launch
index c10f8fa25fe..70aa66f9d4f 100644
--- a/ros/src/sensing/filters/packages/points_preprocessor/launch/compare_map_filter.launch
+++ b/ros/src/sensing/filters/packages/points_preprocessor/launch/compare_map_filter.launch
@@ -1,18 +1,18 @@
-
-
+
+
-
+
-
-
+
+
diff --git a/ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/README.md b/ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/README.md
index 249321f82fd..a68a30bbda3 100644
--- a/ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/README.md
+++ b/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`.|
diff --git a/ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/compare_map_filter.cpp b/ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/compare_map_filter.cpp
index a80f618aac7..ff268cc3f06 100644
--- a/ros/src/sensing/filters/packages/points_preprocessor/nodes/compare_map_filter/compare_map_filter.cpp
+++ b/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
std::vector nn_indices(1);
std::vector 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]);
}
diff --git a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt
index f29d6fbd400..192580d0651 100644
--- a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt
+++ b/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)
diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp
index a64c211c801..c5d901d8e4c 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.cpp
+++ b/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 );
diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h
index fff4146538d..1ddd486e948 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/autoware_rosbag_plugin.h
+++ b/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 topics;
int max_duration;
- uint32_t max_size;
+ uint64_t max_size;
} RecordParam;
protected:
diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h
index 49cbb4d6509..f0e79b7a0ba 100644
--- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h
+++ b/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;
diff --git a/ros/src/util/packages/runtime_manager/scripts/sensing.yaml b/ros/src/util/packages/runtime_manager/scripts/sensing.yaml
index d2116e108e9..03733cbf41c 100644
--- a/ros/src/util/packages/runtime_manager/scripts/sensing.yaml
+++ b/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 : ':='
diff --git a/ros/src/vehicle/vehicle_description/launch/lexus.launch b/ros/src/vehicle/vehicle_description/launch/lexus.launch
new file mode 100644
index 00000000000..dbb9d547e48
--- /dev/null
+++ b/ros/src/vehicle/vehicle_description/launch/lexus.launch
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/ros/src/vehicle/vehicle_description/mesh/estima_left_white.jpg b/ros/src/vehicle/vehicle_description/mesh/estima_left_white.jpg
index 6d52f9cb4fe..3a04f536f35 100644
Binary files a/ros/src/vehicle/vehicle_description/mesh/estima_left_white.jpg and b/ros/src/vehicle/vehicle_description/mesh/estima_left_white.jpg differ
diff --git a/ros/src/vehicle/vehicle_description/mesh/estima_right_white.jpg b/ros/src/vehicle/vehicle_description/mesh/estima_right_white.jpg
index ae4714ea575..b791cfbdd96 100644
Binary files a/ros/src/vehicle/vehicle_description/mesh/estima_right_white.jpg and b/ros/src/vehicle/vehicle_description/mesh/estima_right_white.jpg differ
diff --git a/ros/src/vehicle/vehicle_description/mesh/lexus.dae b/ros/src/vehicle/vehicle_description/mesh/lexus.dae
new file mode 100644
index 00000000000..645141a58e7
--- /dev/null
+++ b/ros/src/vehicle/vehicle_description/mesh/lexus.dae
@@ -0,0 +1,99 @@
+
+
+
+
+ VCGLab
+ VCGLib | MeshLab
+
+ Wed Mar 13 08:56:22 2019 GMT
+ Wed Mar 13 08:56:22 2019 GMT
+ Y_UP
+
+
+
+ lexus.jpg
+
+
+
+
+
+
+
+
+
+
+
+
+ texture0
+ R8G8B8
+
+
+
+
+ texture0-surface
+ LINEAR
+ LINEAR
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ 2.25578 0.967171 -0.397438 2.25536 0.967467 -0.396321 2.24994 0.956699 -0.410292 2.24996 0.956573 -0.411651 2.25653 0.966641 -0.399445 2.24999 0.956359 -0.413977 2.24371 0.945177 -0.426934 2.24294 0.945261 -0.429663 2.24421 0.945121 -0.425137 2.2449 0.978157 -0.425412 2.25524 0.970835 -0.397028 2.25591 0.970493 -0.397971 2.2468 0.977436 -0.42667 2.23483 0.986082 -0.462021 2.23112 0.98731 -0.460568 2.24949 0.976425 -0.428436 2.23941 0.984568 -0.463812 2.2571 0.969878 -0.399667 2.21951 0.996309 -0.503145 2.2136 0.998097 -0.501409 2.20202 1.00726 -0.546849 2.19352 1.00968 -0.545103 2.22631 0.994251 -0.505145 2.21144 1.00459 -0.548783 2.14759 1.03527 -0.658196 2.13082 1.03897 -0.657375 2.1506 1.03144 -0.627933 2.16508 1.02776 -0.628396 2.13195 1.0406 -0.678951 2.11289 1.04428 -0.677891 2.1653 1.03136 -0.659062 2.15193 1.03674 -0.680072 2.18051 1.02385 -0.628887 2.18356 1.01809 -0.58994 2.19603 1.01469 -0.591079 2.17202 1.02123 -0.588886 2.24156 0.960332 -0.442137 2.24861 0.957011 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