chore: add far radar tracking and detection fusion pipeline #952
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…r radar object and conventional lidar object (autowarefoundation#4340) * init package: migrate from object merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add node outline and check build passed Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add util functions to interpolate tracked objs Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add object merger function using interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * create object merger utils Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add kinematics velocity merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add association and merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename perception_utils to object_recognition_utils Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add comment and complete main subscriber Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add parameter control and rename some executable files Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactoring: fix apparent bugs Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add debug tools to check association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * temporary fix: radar tracker node name to anon Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * debug: data association tuning Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename copyright and add merger util function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add tracker_state and update association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update decorative tracker by using tracker_state Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update system around measurement state function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix radar object not merged problem Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add existence probability control Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * create const function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * change association settings depend on measurement and tracker state Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix association matrix Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * put hardcoded node parameter to yaml file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * move tracker state parameter to yaml file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove prediction failed objects Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix bug when none closest time sub objects found Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add velocity diff gate in association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix object interpolation problem Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * use fixed object interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add README Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add interpolated sub object publisher for debug Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add debug message and fix interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update README Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix unintended changes in radar tracking launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add CmakeLists version Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove unnecessary debug description and type cast causes build warning Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix spell-check error Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * replace autoware_utils.hpp Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
…acking stage (autowarefoundation#5269) * update tracking/perception launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * switch tracker launcher mode with argument Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update prediction to switch by radar_long_range_integration paramter Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * make radar far object integration switchable between detection/tracking Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix camera lidar radar fusion flow when 'tracking' is used. Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix spelling and appearance Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * reconstruct topic flow when use tracking to merge far object detection and near object detection Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix input topic miss in tracking.launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix comment in camera_lidar_radar fusion Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactor: rename and remove paramters in prediction.launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactor: rename merger control variable from string to bool Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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@YoshiRi |
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@tkimura4 もう1点動作を検証したい箇所があってしばしお待ちいただけますか？ |
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
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psimの変更も追加で入れます >< |
…n#5326) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
tkimura4
approved these changes
Oct 17, 2023
4 tasks
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Description
動作確認テスト用ブランチです。下記全ての変更を入れた場合のブランチでテストをしました。
動作を確認できているので全ての変更を入れてこのPRのfile diffがなくなることをもってCloseします。下記のPRで足りないFix部分が含まれます。
下記のFixは後ほどawfにも入れるので差分はなくなるはず。
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Tests performed
Perceptionの最終出力が出ることを確認
Notes for reviewers
Interface changes
Effects on system behavior
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