support x1 perception config #129

satoshi-ota · 2021-11-23T01:09:53Z

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yukkysaito · 2021-11-24T01:04:13Z

@satoshi-ota 少し想定と違うところがあるので、定例でお話します！

satoshi-ota · 2021-11-24T03:04:43Z

@yukkysaito fix following points in 75ae9f2, b36b237

remove config files depend on each products
remove sensor_model arg from perception_launch.xml/autoware_launch.xml/logging_simulator.launch.xml
set xx1 perception config as default in ground_segmentation.param.yaml

taichiH · 2021-11-24T09:35:48Z

@satoshi-ota
Why separate compare map components and ransac pipeline components?

taichiH · 2021-11-24T09:40:21Z

perception_launch/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py

+    compare_elevation_map_filter_component = ComposableNode(
+        package="compare_map_segmentation",
+        plugin="compare_map_segmentation::CompareElevationMapFilterComponent",
+        name="compare_elevation_map_filter",
+        remappings=[
+            ("input", "no_ground/oneshot/pointcloud"),
+            ("output", "map_filtered/pointcloud"),
+            ("input/elevation_map", "/map/elevation_map"),
+        ],
+        parameters=[
+            {
+                "map_frame": "map",
+                "map_layer_name": "elevation",
+                "height_diff_thresh": 0.15,
+                "input_frame": "map",
+                "output_frame": "base_link",
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": False}],  # can't use this with transient_local
+    )
+
+    downsampling_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent",
+        name="voxel_grid_filter",
+        remappings=[
+            ("input", "map_filtered/pointcloud"),
+            ("output", "voxel_grid_filtered/pointcloud"),
+        ],
+        parameters=[
+            {
+                "input_frame": LaunchConfiguration("base_frame"),
+                "output_frame": LaunchConfiguration("base_frame"),
+                "voxel_size_x": 0.04,
+                "voxel_size_y": 0.04,
+                "voxel_size_z": 0.08,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )
+
+    voxel_grid_outlier_filter_component = ComposableNode(
+        package="pointcloud_preprocessor",
+        plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent",
+        name="voxel_grid_outlier_filter",
+        remappings=[
+            ("input", "voxel_grid_filtered/pointcloud"),
+            ("output", "/perception/object_segmentation/pointcloud"),
+        ],
+        parameters=[
+            {
+                "voxel_size_x": 0.4,
+                "voxel_size_y": 0.4,
+                "voxel_size_z": 100.0,
+                "voxel_points_threshold": 5,
+            }
+        ],
+        extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
+    )


It's not easy to read, so it's better to put these lines in a separete function.

fix in 9ff854c

yukkysaito · 2021-11-24T09:45:42Z

perception_launch/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py

+                "input_frame": LaunchConfiguration("base_frame"),
+                "output_frame": LaunchConfiguration("base_frame"),
+                "min_x": 0.0,
+                "max_x": 19.6,  # max_x: 18.0m + base_link2livox_front_center distance 1.6m


この辺のパラメータ追い出しくらいまではやりたいです

fix in 3a2a851

satoshi-ota · 2021-11-24T09:48:05Z

@satoshi-ota Why separate compare map components and ransac pipeline components?

@taichiH There is no clear reason.

satoshi-ota · 2021-11-25T00:37:14Z

@yukkysaito please check modifications in 3a2a851, 9ff854c and approve 🙏

perception_launch/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py

perception_launch/launch/perception.launch.xml

sync upstream develop

* modify rviz panel (tier4#110) * add voltage * fix status panel * fix typo * fix system monitor diag (tier4#109) * tmp commit * some fix * comment out * add file and comment out Co-authored-by: prds1lg <prod-s1-github@tier4.jp> * behavior path planner: parameter tuning and some fix (tier4#108) * delete auto approval * update rviz * parameter tuning * update rviz * tuning tracking parameter * tuning avoidance * tuning obstacle avoidance * delete unused * change stop margin * parameter fix Co-authored-by: prds1lg <prod-s1-github@tier4.jp> * fix Random filter (tier4#114) * modify engage velocity + obstacle avoidance (tier4#113) * modify engage velocity * tuning avoidance * parameter tuning Co-authored-by: prds1lg <prod-s1-github@tier4.jp> * Fix heartbeat (tier4#126) (tier4#129) * fix: external_emergenxy_stop_heartbeat_timeout to 3.0 * feat: add heartbeat to meter panel * feat: use_external_emergency_stop to false in psim * fix: comment out * fix: change timeout sec Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * fix: delete space * fix: delete space * fix: for pre-commit * fix: typo * fix typo Co-authored-by: prds1lg <prod-s1-github@tier4.jp> Co-authored-by: tier4-autoware-private-bot[bot] <87871706+tier4-autoware-private-bot[bot]@users.noreply.github.com>

chore: sync upstream

…ation (#129) * feat(autoware_launch): move config to autoware_launch for localization Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix order Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp>

support x1 perception config

b3cd065

satoshi-ota requested review from yukkysaito, taichiH and mitsudome-r November 23, 2021 08:24

satoshi-ota mentioned this pull request Nov 24, 2021

remove unused pipeline tier4/aip_launcher#4

Merged

satoshi-ota added 2 commits November 24, 2021 11:50

remove product config

75ae9f2

update launch.py

b36b237

satoshi-ota marked this pull request as ready for review November 24, 2021 03:04

taichiH reviewed Nov 24, 2021

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yukkysaito reviewed Nov 24, 2021

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satoshi-ota added 2 commits November 24, 2021 19:16

maintain some filters params in yaml file

3a2a851

add function to create elevation map pipeline

9ff854c

satoshi-ota requested review from yukkysaito and taichiH November 24, 2021 11:36

yukkysaito reviewed Nov 25, 2021

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perception_launch/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py Outdated Show resolved Hide resolved

yukkysaito reviewed Nov 25, 2021

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perception_launch/launch/perception.launch.xml Outdated Show resolved Hide resolved

add param to yaml

f655b52

yukkysaito approved these changes Nov 25, 2021

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satoshi-ota merged commit b760257 into use-autoware-auto-msgs Nov 25, 2021

satoshi-ota deleted the auto/fix-x1-pipeline branch November 25, 2021 01:57

j4tfwm6z pushed a commit that referenced this pull request Feb 1, 2022

Merge pull request #129 from tier4/sync-upstream-develop

dc33430

sync upstream develop

tzhong518 pushed a commit that referenced this pull request Aug 1, 2022

Merge pull request #129 from tier4/sync-upstream

d65c474

chore: sync upstream

tier4-autoware-public-bot bot mentioned this pull request Jan 21, 2023

chore: sync awf-latest-x1 #723

Merged

This was referenced Jan 21, 2023

chore: sync awf-latest-x2 #724

Merged

chore: sync awf-latest #690

Merged

chore: sync awf-latest-xx1 #725

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support x1 perception config #129

support x1 perception config #129

satoshi-ota commented Nov 23, 2021 •

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yukkysaito commented Nov 24, 2021

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taichiH commented Nov 24, 2021

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satoshi-ota commented Nov 25, 2021

support x1 perception config #129

support x1 perception config #129

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satoshi-ota commented Nov 23, 2021 • edited Loading

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