add rosbridge launch #175

yabuta · 2022-01-28T08:58:22Z

PR Type

Improvement

Description

Start rosbridge with api launch file.
And remove rosbridge launch from web_controller

Review Procedure

ros2 launch autoware_api_launch autoware_api.launch.xml init_simulator_pose:=false init_localization_pose:=false
check ros2 node list|grep rosbridge

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autoware_api_launch/launch/autoware_api.launch.xml

add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

yabuta · 2022-01-31T09:14:51Z

またエラーが起きてる

sync upstream develop

shmpwk · 2022-04-25T05:28:26Z

@yabuta @kenji-miyake
Do you know why rosbridge is launched in autoware_api_launch but not in web_controller?
We are considering launching rosbridge in autowarefoundation as well.

kenji-miyake · 2022-04-25T05:29:03Z

@yabuta @isamu-takagi Could you answer this? 🙏

kenji-miyake · 2022-04-25T05:30:39Z

(Internal discussion thread: https://star4.slack.com/archives/C02JH3FME8N/p1643333178207500)

yabuta · 2022-04-25T05:41:59Z

@shmpwk rosbridge is used to communicate with the TIER IV cloud system and TIER IV tools as well as web controller.
Since rosbridge communicates with nodes other than web controller, we moved rosbridge launcher to autoware_api_launch, which handles external integration.

shmpwk · 2022-04-25T05:45:40Z

@yabuta Thank you for the information,
My understanding is that currently autowarefoundation does not use rosbridge in autoware_api_launch but in the future it might use it.
So should autowarefoundation launch rosbridge in autoware_api_launch as well as this PR?

yabuta · 2022-04-25T05:55:28Z

@shmpwk
Are autowarefoundation using autoware_api_launch?
If so, I think that it is good to add rosbridge launcher to autoware_api_launch.
However, I think it would be better to write how to launch rosbridge in DOCS of web_controller for future users who don't use autoware_api_launch.

shmpwk · 2022-04-25T06:14:29Z

@yabuta
In autowarefoundation, there is
https://github.com/autowarefoundation/autoware.universe/tree/main/launch/tier4_autoware_api_launch.
However considering not launching rosbridge in tier4_autoware_api_launch, nobody uses it for now (?)
But it must be used when FOA accesses autoware through rosbridge.

Thus, I add rosbridge launcher to autoware_api_launch and also add docs in web_controller.

yabuta · 2022-04-25T06:20:58Z

@shmpwk
Thank you.
I think that's a good idea.

* update parameter (#169) * Port pure pursuit (#166) * Fix control.launch.py * Apply pre-commit * Fix control.launch.py * Change debug topic name in rviz setting * fix typo in localization util.launch.py (#168) * Feature/add covarinace param (#170) * add covariance param * add description * remove unused param (#172) * Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (#174) * Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0 Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0. - [Release notes](https://github.com/streetsidesoftware/cspell-action/releases) - [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md) - [Commits](streetsidesoftware/cspell-action@v1.3.4...v1.5.0) --- updated-dependencies: - dependency-name: streetsidesoftware/cspell-action dependency-type: direct:production update-type: version-update:semver-minor ... Signed-off-by: dependabot[bot] <support@github.com> * Update spell_check_pr.yml Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: fix hdd_monitor param (#173) * add rosbridge launch (#175) * add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#177) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * ci: update CI settings (#176) * ci(pre-commit): update .pre-commit-config.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci: add sync-files.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: remove old workflows Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(sync-upstream): update sync-upstream.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * ci(pre-commit): autofix * style: fix for yamllint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: minor update CI settings (#179) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * [pre-commit.ci] pre-commit autoupdate (#178) updates: - [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](pre-commit/pre-commit-hooks@v4.0.1...v4.1.0) - [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](igorshubovych/markdownlint-cli@v0.29.0...v0.30.0) - [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](pre-commit/mirrors-prettier@v2.4.1...v2.5.1) - [github.com/pycqa/isort: 5.9.3 → 5.10.1](PyCQA/isort@5.9.3...5.10.1) - [github.com/psf/black: 21.9b0 → 22.1.0](psf/black@21.9b0...22.1.0) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: fix CI settings (#182) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: sync files (#180) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (#184) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: add paricle param (#181) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * chore: sync files (#185) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * Update sync-files.yaml Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#186) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync system config (#187) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (#189) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: wep21 <wep21@users.noreply.github.com> * chore: replace system config in system launch (#188) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * feat: adds additional configuration flags for behavior_path_planner (#171) * feat: adds additional configuration flags for behavior_path_planner The additional configuration is used to allows avoidance over lane with same and different direction, as well as allows safety margin between linestring and ego. This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496 port. Related PR: autowarefoundation/autoware.universe#285 autowarefoundation/autoware.universe#287 Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Change lateral_collision_margion to 1.0 to reflect changes. The decision to change the parameter value to 1.0 is made after performing drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting between planning control team on 3rd of February 2022. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: slightly increase the safety buffer. This increases the shift length to 1.7 + 0.5 * vehicle width. The decision to increase is based on the discussion between planning team and also the advice from the FI team. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat(behavior_velocity): add path marker visualization (#190) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore: sync files (#193) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (#194) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * chore: update workflow files name Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> * chore: sync files (#195) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> * feat: lateral controller param (#191) * feat: define lat_controller_param_path * feat: change for trajectory_follower params * add args for lat_controller_param_path * chore: fix wrong essential param to optional (#197) * fix wrong param line * move pointcloud_container_name param to optional * fix: typo extra `>` (#199) * Chore arrange perception rviz topics (#196) * feat(autoware_launch): add occupancy grid vizualization Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(autoware_launch): add object recognition namespace to rviz Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix: delete unused in control_launch (#200) * fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml * feat: add system_monitor parameters in sync-files (#201) * chore: sync files (#202) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> * chore: sync files (#203) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: update settings of sync-files (#204) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat(control_launch): remove unnecessary params (#206) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#208) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat(atutoware.rviz): disable selectable for pointcloud visualization (#207) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * chore: sync files (#212) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * delete vehicle parameters in longitudinal_controller.param.yaml * apply pre-commit * remove unused file * update sync-param-files.yaml * disable local_external_control in system_error_montitor_psim Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: yabuta <makoto.yabuta@tier4.jp> Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: wep21 <wep21@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>

* change parameters of longitudinal controller (tier4/autoware_launch.xx1#202) * fix typo in localization util.launch.py (#168) * add rosbridge launch (#175) * add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: YamatoAndo <yamato.ando@gmail.com> Co-authored-by: yabuta <makoto.yabuta@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* add rosbridge launch * fix TODO document add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix double-byte character Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

… check the drivable area (#175) * add is_considering_footprint_edges param Signed-off-by: beyza <bnk@leodrive.ai> * add description Signed-off-by: beyza <bnk@leodrive.ai> Signed-off-by: beyza <bnk@leodrive.ai> Co-authored-by: beyza <bnk@leodrive.ai>

add rosbridge launch

66677df

yabuta requested review from kenji-miyake and yukkysaito January 28, 2022 08:58

kenji-miyake reviewed Jan 28, 2022

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autoware_api_launch/launch/autoware_api.launch.xml Outdated Show resolved Hide resolved

yabuta mentioned this pull request Jan 28, 2022

fix(web controller): remove rosbridge launch from web_controller launch file autowarefoundation/autoware.universe#318

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yabuta marked this pull request as ready for review January 31, 2022 08:04

fix TODO document

d64fa9c

add link to pull request Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

kenji-miyake previously approved these changes Jan 31, 2022

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fix double-byte character

356446e

yabuta dismissed kenji-miyake’s stale review via 356446e January 31, 2022 09:17

kenji-miyake approved these changes Jan 31, 2022

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yabuta merged commit 8cf14b5 into tier4/universe Jan 31, 2022

yabuta deleted the feature/add_rosbridge_launch branch January 31, 2022 09:21

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

Merge pull request #175 from tier4/sync-upstream-develop

9a03518

sync upstream develop

shmpwk mentioned this pull request Apr 25, 2022

feat(tier4_autoware_api_launch): add rosbridge autowarefoundation/autoware.universe#779

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kazuki527 pushed a commit to kazuki527/autoware_launch that referenced this pull request Apr 25, 2022

feat: tuning motion_velocity_smoother (tier4#175)

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takayuki5168 pushed a commit that referenced this pull request May 26, 2022

fix lint error (#175)

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This was referenced Jan 25, 2023

chore: sync awf-latest-x1 #723

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chore: sync awf-latest-x2 #724

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chore: sync awf-latest #730

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chore: sync awf-latest-xx1 #725

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add rosbridge launch #175

add rosbridge launch #175

yabuta commented Jan 28, 2022 •

edited by kenji-miyake

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yabuta commented Jan 31, 2022

shmpwk commented Apr 25, 2022

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yabuta commented Apr 25, 2022

add rosbridge launch #175

add rosbridge launch #175

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yabuta commented Jan 28, 2022 • edited by kenji-miyake Loading

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yabuta commented Jan 31, 2022

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