From 001242912be28c064850cdbcba895e354816b595 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Tue, 14 Dec 2021 17:16:53 +0900 Subject: [PATCH] feat: add sensing launch (#165) * release v0.4.0 * Feature/phased timestamped velodyne (#53) * Replace with new velodyne driver, cutting scan based on azimuth * Fix launch/dependences * Fix version name for tier4/velodyne_vls * Add velodyne_driver dependency * Nodelet tlr (#56) * temporary commit tlr_nodelet Signed-off-by: Yukihiro Saito * compressed to compressed Signed-off-by: Yukihiro Saito * Update traffic_light.launch Signed-off-by: Daisuke Nishimatsu * fix bug Signed-off-by: Yukihiro Saito * change image_transport to relay Signed-off-by: Yukihiro Saito * fix bug Signed-off-by: Yukihiro Saito * fix bug Signed-off-by: Yukihiro Saito * decompress as rgb8 Signed-off-by: Yukihiro Saito * fix bug Signed-off-by: Yukihiro Saito Co-authored-by: Yukihiro Saito * use env for livox id (#58) Signed-off-by: Yukihiro Saito * Feature/optimize scan phase (#59) * Rename parameter name, sensor_phase -> scan_phase Signed-off-by: Akihito Ohasto * Modify aip_xx1 scan_phase for better perception * Rename parameter name, sensor_phase -> scan_phase Signed-off-by: Akihito Ohasto * Logging simulator (#65) * Add logging_simulator.launch Signed-off-by: Daisuke Nishimatsu * Don't load env when launch driver is false Signed-off-by: Daisuke Nishimatsu * removed ROS1 package Signed-off-by: mitsudome-r * Revert "removed ROS1 package" This reverts commit 225276afe774a2c9d7bc28ca59accffbdc14dc8a. * 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 sensing_launch (#14) * [sensing_launch] Initial port without actually launching * [sensing_launch] default -> value, namespace, first nodelet porting * [sensing_launch] use usb_cam, eval -> var * [sensing_launch] Fix syntax errors in pointcloud_preprocessor.launch.py * [pointcloud-preprocessor] fix ground-filter component name * [pointcloud-preprocessor] Polish aip_s1/pointcloud_preprocessor.launch.py Only one error at runtime remains when testing on dev laptop due to pointclouds that need to be available for concatenation * [sensing_launch] ublox_gps refer to config file properly * (wip) velodyne_node_container before opaque * [sensing_launch] Port aip-s1 as far as possible * [sensing_launch] remove unused pointcloud_preprocessor_nodes.py * [sensing_launch] Manage to add ComposableNode conditionally * [sensing_launch] Update camera for s1, x1 * [sensing_launch] Copy aip_s1/ content to aip_customized, aip_x1, aip_x2 because they were identical before the porting * [sensing_launch] Port livox * [sensing_launch] Port aip_xx1 * [sensing_launch] Port aip_xx2 * [sensing_launch] Remove superfluous passthrough filter, min_z, max_z * [sensing_launch] Incorporate changes from vehicle testing * [sensing_launch] Declare launch argument for base_frame * [sensing_launch] Missing fixes to launch/velodyne* * [sensing_launch] Update copied configs * Added linters (#32) * Ros2 v0.8.0 sensing launch (#57) * restore file name Signed-off-by: Takamasa Horibe * Update livox_horizon.launch (#89) * fix pass through filter launch (#90) * fix pass through filter launch * change if statement style * update aip_x1 sensing launch (#100) * fix livox launch arg (#108) * add usb_cam depend (#118) * update aip_x1 camera.launch (#119) * update imu.launch (#120) * fix veodyne setting in aip_x1/lidar.launch (#125) * Add velodyne_monitor to velodyne_*.launch (#101) Signed-off-by: Kenji Miyake * Uupdate aip_x1 lidar.launch (#143) * Format gnss.launch (#145) Signed-off-by: Kenji Miyake * Add use_gnss arg to aip_x1 gnss.launch (#146) Signed-off-by: Kenji Miyake * support individual params (#137) * support individual params * remove kvaser_hardware_id.txt * Launch velodyne_monitor only when launch_driver is true (#163) Signed-off-by: Kenji Miyake * [sensing_launch] ros2 porting: use container for livox point preprocessor Signed-off-by: Takamasa Horibe * [sensing_launch] ros2-porting: fix vehicle_info params Signed-off-by: Takamasa Horibe * Revert "restore file name" This reverts commit 37d7ac4f6a2a617b003b4e2a5ac96c48b332ade0. * [sensing_launch] ros2-porting: fix vehicle_info for livox preprocessor launch Signed-off-by: Takamasa Horibe * [sensing_launch] ros2-porting: fix vehicle_info for api_** points_preprocessor.launch.py Signed-off-by: Takamasa Horibe * fix launch Signed-off-by: Takamasa Horibe * fix livox launch Signed-off-by: Takamasa Horibe * added suffix ".xml" to "velodyne_monitor.launch" in the launch files * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py (#61) * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters * changed to use EnvironmentVariable function for use_sim_time parameter * changed indent * removed an empty line Co-authored-by: hosokawa * fixed typo on the arg bd_code_param_path lines (#63) Co-authored-by: hosokawa * [sensing_launch]: Fix indentation in gnss launch Signed-off-by: wep21 * [sensing_launch]: Add missing dependency in package.xml Signed-off-by: wep21 * [sensing_launch]: Fix velodyne launch Signed-off-by: wep21 * [sensing_launch]: Fix livox launch Signed-off-by: wep21 * [sensing_launch]: Add arg for vehicle parameter file in lidar launch Signed-off-by: wep21 * [sensing_launch]: Cleanup Signed-off-by: Autoware * Add new line Signed-off-by: Autoware * [sensing_launch]: Add default config for xx1 Signed-off-by: Autoware * [sensing_launch]: Fix indentation Signed-off-by: Autoware 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: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> Co-authored-by: hosokawa Co-authored-by: HOSOKAWA Ikuto Co-authored-by: wep21 Co-authored-by: Autoware * 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 * Sync with Ros2 v0.8.0 beta (#71) * update sensing launch to support aip_x1 (#69) Signed-off-by: taichiH * fix logging_simulator_bug (#68) Signed-off-by: taichiH * fix aip_x1 param (#70) Signed-off-by: taichiH Co-authored-by: Taichi Higashide * Fix aip_xx1's pointcloud_preprocessor.launch.py (#72) Signed-off-by: Kenji Miyake * fix velodyne launch (#73) * fix velodyne launch * fix bug * add scan_phase arg * fix bug (#85) * Use sensor data qos for pointcloud (#82) Signed-off-by: Autoware Co-authored-by: Autoware * Remove unused remappings (#88) Signed-off-by: wep21 * Livox composable node (#87) * Fix default value of use_concat_filter and use_radius_search (#90) * Fix default value of use_concat_filter and use_radius_search Signed-off-by: Kenji Miyake * Fix lint Signed-off-by: Kenji Miyake * [aip_x1]: Fix imu topic name (#94) Signed-off-by: wep21 * Fix various typos in launch files (#97) * Move individual params to a separate package (#100) Signed-off-by: Kenji Miyake * add use_sim-time option (#99) * Format launch files (#178) Signed-off-by: Kenji Miyake * Fix bug of pointcloud_preprocessor.py (#179) Signed-off-by: autoware Co-authored-by: autoware * 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 * Add multithread and intra process option (#187) * Add multithread and intra process option Signed-off-by: wep21 * Fix velodyne node container executable Signed-off-by: wep21 * Add option into aip_xx2 Signed-off-by: wep21 * Add option into aip_x2 Signed-off-by: wep21 * Add option into aip_x1 Signed-off-by: wep21 * Add option into aip_s1 Signed-off-by: wep21 * Add option into aip_customized Signed-off-by: wep21 * Add option into lidar.launch.xml Signed-off-by: wep21 * Fix invalid attribute in gnss launch (#191) Signed-off-by: wep21 * Fix parameter for scan phase (#193) Signed-off-by: wep21 * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) (#196) * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) * rm arg(gnss_receiver) escalation and modify septentrio_gnss_driver_node option * change gnss_receiver default septentrio to ublox * remap all septentrio_gnss_driver topic names * replace septentrio gnss driver launch type 'node' to 'include' * 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 * 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 * Fix aip_xx1 camera launch (#242) Signed-off-by: wep21 * Fix gnss topic name (#243) Signed-off-by: wep21 * Enable intra process and mt (#204) Signed-off-by: wep21 * add imu_corrector (#296) * add description for sensing_launch (#336) * 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 * Fix camera launch invalid type string (#344) Signed-off-by: kosuke55 * add view width direction to velodyne_node_container.launch.py etc... (#366) * add arg of view_width and view_direction * delete initial value * add args and params Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> * Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake * Fix package.xml Signed-off-by: Kenji Miyake * Fix pre-commit target (#436) Signed-off-by: Kenji Miyake * Remove aip xx2 model from sensing launch (#446) Signed-off-by: wep21 * Add respawn for ublox (#449) Signed-off-by: wep21 * delete aip and modify package settings (#434) * 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 * feature/use common pointcloud container (#147) * add container argument * load composable node to pointcloud_container * fix autoware_launch * enable multi-thread * improve readability * Update package.xml (#150) * feat: add default param * feat: add aip_launcher depends * fix: add vehicle_info_util as exec_depend * fix: add velodyne_vls to build_depend.repos * fix: remove api_launcher at build_depends Co-authored-by: mitsudome-r Co-authored-by: Akihito Ohsato Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> Co-authored-by: Esteve Fernandez Co-authored-by: Takamasa Horibe Co-authored-by: Taichi Higashide Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> Co-authored-by: hosokawa Co-authored-by: HOSOKAWA Ikuto Co-authored-by: wep21 Co-authored-by: Autoware Co-authored-by: Kazuki Miyahara Co-authored-by: tkimura4 Co-authored-by: autoware Co-authored-by: Takagi, Isamu Co-authored-by: hiro-ya-iv <30652835+hiro-ya-iv@users.noreply.github.com> Co-authored-by: YamatoAndo Co-authored-by: Hiroki OTA Co-authored-by: Kosuke Takeuchi Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> --- build_depends.repos | 16 ++ launch/sensing_launch/CMakeLists.txt | 14 ++ launch/sensing_launch/README.md | 49 ++++ .../sensing_launch/launch/sensing.launch.xml | 26 ++ launch/sensing_launch/package.xml | 23 ++ .../sensing_launch/sensing_launch.drawio.svg | 228 ++++++++++++++++++ .../config/vehicle_mirror.param.yaml | 8 + 7 files changed, 364 insertions(+) create mode 100644 launch/sensing_launch/CMakeLists.txt create mode 100644 launch/sensing_launch/README.md create mode 100644 launch/sensing_launch/launch/sensing.launch.xml create mode 100644 launch/sensing_launch/package.xml create mode 100644 launch/sensing_launch/sensing_launch.drawio.svg create mode 100644 vehicle/vehicle_info_util/config/vehicle_mirror.param.yaml diff --git a/build_depends.repos b/build_depends.repos index 471cfbe567991..51917f0b47b8b 100644 --- a/build_depends.repos +++ b/build_depends.repos @@ -1,4 +1,8 @@ repositories: + launch/aip_launcher: + type: git + url: https://github.com/tier4/AutowareArchitectureProposal_aip_launcher.git + version: use-autoware-auto-msgs common/autoware_lint_common: type: git url: https://github.com/tier4/tier4_ament_lint @@ -51,3 +55,15 @@ repositories: type: git url: https://github.com/astuff/pacmod3_msgs version: main + vendor/tamagawa_imu_driver: + type: git + url: https://github.com/tier4/tamagawa_imu_driver.git + version: ros2 + vendor/livox-driver: + type: git + url: https://github.com/tier4/livox_ros2_driver.git + version: tier4/master + vendor/velodyne_vls: + type: git + url: https://github.com/tier4/velodyne_vls.git + version: use-autoware-auto-msgs diff --git a/launch/sensing_launch/CMakeLists.txt b/launch/sensing_launch/CMakeLists.txt new file mode 100644 index 0000000000000..408ba2fe4a7ec --- /dev/null +++ b/launch/sensing_launch/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.5) +project(sensing_launch) + +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 +) diff --git a/launch/sensing_launch/README.md b/launch/sensing_launch/README.md new file mode 100644 index 0000000000000..2a6b577a12d5e --- /dev/null +++ b/launch/sensing_launch/README.md @@ -0,0 +1,49 @@ +# sensing_launch + +## Structure + +![sensing_launch](./sensing_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +You can include as follows in `*.launch.xml` to use `sensing.launch.xml`. + +```xml + + + + + + +``` + +## Launch Directory Structure + +This package finds sensor settings of specified sensor model in `launch`. + +```bash +launch/ +├── aip_x1 # Sensor model name +│   ├── camera.launch.xml # Camera +│   ├── gnss.launch.xml # GNSS +│   ├── imu.launch.xml # IMU +│   ├── lidar.launch.xml # LiDAR +│   └── pointcloud_preprocessor.launch.py # for preprocessing pointcloud +... +``` + +## Notes + +This package finds settings with variables. + +ex.) + + + +```xml + +``` diff --git a/launch/sensing_launch/launch/sensing.launch.xml b/launch/sensing_launch/launch/sensing.launch.xml new file mode 100644 index 0000000000000..82b177b90a655 --- /dev/null +++ b/launch/sensing_launch/launch/sensing.launch.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/sensing_launch/package.xml b/launch/sensing_launch/package.xml new file mode 100644 index 0000000000000..5ec1f045a91b0 --- /dev/null +++ b/launch/sensing_launch/package.xml @@ -0,0 +1,23 @@ + + + + sensing_launch + 0.1.0 + The sensing_launch package + + Yukihiro Saito + Apache License 2.0 + + ament_cmake_auto + aip_x1_launch + aip_x2_launch + aip_xx1_launch + common_sensor_launch + vehicle_info_util + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/launch/sensing_launch/sensing_launch.drawio.svg b/launch/sensing_launch/sensing_launch.drawio.svg new file mode 100644 index 0000000000000..4db34b058b7c0 --- /dev/null +++ b/launch/sensing_launch/sensing_launch.drawio.svg @@ -0,0 +1,228 @@ + + + + + + + +
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+ + + imu.launch.xml... + + + + + + + + + + + + + Viewer does not support full SVG 1.1 + + + + \ No newline at end of file diff --git a/vehicle/vehicle_info_util/config/vehicle_mirror.param.yaml b/vehicle/vehicle_info_util/config/vehicle_mirror.param.yaml new file mode 100644 index 0000000000000..2f586d99add43 --- /dev/null +++ b/vehicle/vehicle_info_util/config/vehicle_mirror.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + min_longitudinal_offset: 1.8 + max_longitudinal_offset: 3.2 + min_lateral_offset: -1.4 + max_lateral_offset: 1.4 + min_height_offset: 0.8 + max_height_offset: 1.5