Merge pull request #388 from tier4/sync-upstream

chore: sync upstream

common/tier4_planning_rviz_plugin/include/path/display.hpp

@@ -63,13 +63,13 @@ void visualizeBound(
     auto target_lp = bound.at(i);
     target_lp.x = target_lp.x - x_offset;
     target_lp.y = target_lp.y + y_offset;
-    target_lp.z = target_lp.z + 0.5;
+    target_lp.z = target_lp.z;
     bound_object->position(target_lp.x, target_lp.y, target_lp.z);
     bound_object->colour(color);
     auto target_rp = bound.at(i);
     target_rp.x = target_rp.x + x_offset;
     target_rp.y = target_rp.y - y_offset;
-    target_rp.z = target_rp.z + 0.5;
+    target_rp.z = target_rp.z;
     bound_object->position(target_rp.x, target_rp.y, target_rp.z);
     bound_object->colour(color);
   }

launch/map4_localization_launch/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.14)
+project(map4_localization_launch)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+ament_auto_package(INSTALL_TO_SHARE
+  eagleye_pose_twist_localization_launch
+  eagleye_twist_localization_launch
+)

launch/map4_localization_launch/README.md

@@ -0,0 +1,44 @@
+# map4_localization_launch
+
+This localization launch package is a sample package to introduce eagleye into autoware.
+
+Eagleye provides a cost-effective alternative to LiDAR and point cloud-based localization by using low-cost GNSS and IMU sensors to provide vehicle position and orientation.
+
+Autoware users will be able to choose between their existing LiDAR and point cloud-based localization stacks or GNSS/IMU-based eagleye localizer, depending on their specific needs and operating environment.
+
+In addition to the LiDAR-based solution provided by `tier4_localization_launch` (shown in the first row of the following table), there are two ways to utilize eagleye in `map4_localization_launch` with the autoware localization stack.
+
+| localization launch                                             | twist estimator                   | pose estimator                    |
+| --------------------------------------------------------------- | --------------------------------- | --------------------------------- |
+| tier4_localization_launch                                       | gyro_odometry                     | ndt_scan_matcher                  |
+| map4_localization_launch/eagleye_twist_localization_launch      | eagleye_rt(gyro/odom/gnss fusion) | ndt_scan_matcher                  |
+| map4_localization_launch/eagleye_pose_twist_localization_launch | eagleye_rt(gyro/odom/gnss fusion) | eagleye_rt(gyro/odom/gnss fusion) |
+
+## Structure
+
+- eagleye_twist_localization_launch
+
+![map4_localization_launch/eagleye_twist_localization_launch](./eagleye_twist_localization_launch/localization_launch.drawio.svg)
+
+- eagleye_pose_twist_localization_launch
+
+![map4_localization_launch/eagleye_pose_twist_localization_launch](./eagleye_pose_twist_localization_launch/localization_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+Include `localization.launch.xml` in other launch files as follows.
+
+Note that you should provide parameter paths as `PACKAGE_param_path`. The list of parameter paths you should provide is written at the top of `localization.launch.xml`.
+
+```xml
+  <include file="$(find-pkg-share map4_localization_launch)/eagleye_twist_localization_launch/localization.launch.xml">
+    <!-- Parameter files -->
+    <arg name="FOO_param_path" value="..."/>
+    <arg name="BAR_param_path" value="..."/>
+    ...
+  </include>
+```

launch/map4_localization_launch/eagleye_pose_twist_localization_launch/localization.launch.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Parameter files -->
+  <arg name="localization_error_monitor_param_path"/>
+  <arg name="ekf_localizer_param_path"/>
+  <arg name="pose_initializer_param_path"/>
+  <arg name="pose_initializer_common_param_path"/>
+  <arg name="eagleye_param_path"/>
+
+  <!-- localization module -->
+  <group>
+    <push-ros-namespace namespace="localization"/>
+    <!-- util module -->
+    <group>
+      <push-ros-namespace namespace="util"/>
+      <include file="$(find-pkg-share map4_localization_launch)/eagleye_pose_twist_localization_launch/util/util.launch.xml"/>
+    </group>
+    <!-- pose_twist_estimator module -->
+    <group>
+      <push-ros-namespace namespace="pose_twist_estimator"/>
+      <include file="$(find-pkg-share map4_localization_launch)/eagleye_pose_twist_localization_launch/pose_twist_estimator/pose_twist_estimator.launch.xml"/>
+    </group>
+    <!-- pose_twist_fusion_filter module -->
+    <group>
+      <push-ros-namespace namespace="pose_twist_fusion_filter"/>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml"/>
+    </group>
+    <!-- localization_error_monitor_module -->
+    <group>
+      <include file="$(find-pkg-share tier4_localization_launch)/launch/localization_error_monitor/localization_error_monitor.launch.xml"/>
+    </group>
+  </group>
+</launch>