Merge branch 'main' into refactor/map_projection_loader_params

.github/workflows/build-and-test-differential.yaml

@@ -2,20 +2,9 @@ name: build-and-test-differential
 
 on:
   pull_request:
-    types:
-      - opened
-      - synchronize
-      - labeled
 
 jobs:
-  prevent-no-label-execution:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
-    with:
-      label: tag:run-build-and-test-differential
-
   build-and-test-differential:
-    needs: prevent-no-label-execution
-    if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
@@ -36,6 +25,9 @@ jobs:
         with:
           fetch-depth: 0
 
+      - name: Check disk space before build
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -69,6 +61,9 @@ jobs:
           verbose: true
           flags: differential
 
+      - name: Check disk space after build
+        run: df -h
+
   clang-tidy-differential:
     runs-on: ubuntu-latest
     container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda

launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml

@@ -27,10 +27,10 @@
 
   <group>
     <include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
-      <arg name="use_odom" value="true"/>
       <arg name="in_odom" value="/localization/kinematic_state"/>
       <arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="out_accel" value="/localization/acceleration"/>
+      <arg name="param_file" value="$(var twist2accel_param_path)"/>
     </include>
   </group>
 

launch/tier4_map_launch/package.xml

@@ -8,6 +8,11 @@
   <maintainer email="[email protected]">Ryu Yamamoto</maintainer>
   <maintainer email="[email protected]">Koji Minoda</maintainer>
   <maintainer email="[email protected]">Kento Yabuuchi</maintainer>
+  <maintainer email="[email protected]">Yamato Ando</maintainer>
+  <maintainer email="[email protected]">NGUYEN Viet Anh</maintainer>
+  <maintainer email="[email protected]">Taiki Yamada</maintainer>
+  <maintainer email="[email protected]">Shintaro Sakoda</maintainer>
+  <maintainer email="[email protected]">Masahiro Sakamoto</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

@@ -85,6 +85,9 @@
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

@@ -22,6 +22,9 @@
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
   </group>

launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml

@@ -26,6 +26,9 @@
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 

localization/twist2accel/CMakeLists.txt

@@ -13,4 +13,5 @@ ament_target_dependencies(twist2accel)
 ament_auto_package(
   INSTALL_TO_SHARE
   launch
+  config
 )

localization/twist2accel/README.md

@@ -21,10 +21,7 @@ This package is responsible for estimating acceleration using the output of `ekf
 
 ## Parameters
 
-| Name                 | Type   | Description                                                               |
-| -------------------- | ------ | ------------------------------------------------------------------------- |
-| `use_odom`           | bool   | use odometry if true, else use twist input (default: true)                |
-| `accel_lowpass_gain` | double | lowpass gain for lowpass filter in estimating acceleration (default: 0.9) |
+{{ json_to_markdown("localization/twist2accel/schema/twist2accel.schema.json") }}
 
 ## Future work
 

localization/twist2accel/config/twist2accel.param.yaml

@@ -0,0 +1,4 @@
+/**:
+  ros__parameters:
+    use_odom: true
+    accel_lowpass_gain: 0.9

localization/twist2accel/launch/twist2accel.launch.xml

@@ -1,14 +1,13 @@
 <launch>
-  <arg name="use_odom" default="true"/>
-  <arg name="accel_lowpass_gain" default="0.9"/>
+  <arg name="param_file" default="$(find-pkg-share twist2accel)/config/twist2accel.param.yaml"/>
+
   <arg name="in_odom" default="in_odom"/>
   <arg name="in_twist" default="in_twist"/>
   <arg name="out_accel" default="out_accel"/>
   <node pkg="twist2accel" exec="twist2accel" name="twist2accel" output="screen">
     <remap from="input/odom" to="$(var in_odom)"/>
     <remap from="input/twist" to="$(var in_twist)"/>
     <remap from="output/accel" to="$(var out_accel)"/>
-    <param name="accel_lowpass_gain" value="$(var accel_lowpass_gain)"/>
-    <param name="use_odom" value="$(var use_odom)"/>
+    <param from="$(var param_file)"/>
   </node>
 </launch>

localization/twist2accel/schema/twist2accel.schema.json

@@ -0,0 +1,36 @@
+{
+  "$schema": "http://json-schema.org/draft-07/schema#",
+  "title": "Parameters for twist2accel Nodes",
+  "type": "object",
+  "definitions": {
+    "twist2accel": {
+      "type": "object",
+      "properties": {
+        "use_odom": {
+          "type": "boolean",
+          "default": true,
+          "description": "use odometry if true, else use twist input."
+        },
+        "accel_lowpass_gain": {
+          "type": "number",
+          "default": 0.9,
+          "minimum": 0.0,
+          "description": "lowpass gain for lowpass filter in estimating acceleration."
+        }
+      },
+      "required": ["use_odom", "accel_lowpass_gain"]
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/twist2accel"
+        }
+      },
+      "required": ["ros__parameters"]
+    }
+  },
+  "required": ["/**"]
+}

localization/twist2accel/src/twist2accel.cpp

@@ -35,8 +35,8 @@ Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOption
   pub_accel_ = create_publisher<geometry_msgs::msg::AccelWithCovarianceStamped>("output/accel", 1);
 
   prev_twist_ptr_ = nullptr;
-  accel_lowpass_gain_ = declare_parameter("accel_lowpass_gain", 0.5);
-  use_odom_ = declare_parameter("use_odom", true);
+  accel_lowpass_gain_ = declare_parameter<double>("accel_lowpass_gain");
+  use_odom_ = declare_parameter<bool>("use_odom");
 
   lpf_alx_ptr_ = std::make_shared<LowpassFilter1d>(accel_lowpass_gain_);
   lpf_aly_ptr_ = std::make_shared<LowpassFilter1d>(accel_lowpass_gain_);

perception/euclidean_cluster/launch/euclidean_cluster.launch.py

@@ -76,20 +76,27 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+    )
+
+    target_container = (
+        LaunchConfiguration("pointcloud_container_name")
+        if IfCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+        else container
     )
 
     use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
             low_height_cropbox_filter_component,
             use_low_height_euclidean_component,
         ],
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
     disuse_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[disuse_low_height_euclidean_component],
-        target_container=container,
+        target_container=target_container,
         condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
@@ -106,6 +113,8 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_low_height_cropbox", "false"),
+            add_launch_arg("use_pointcloud_container", "false"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
             add_launch_arg(
                 "euclidean_param_path",
                 [

perception/euclidean_cluster/launch/euclidean_cluster.launch.xml

@@ -5,12 +5,17 @@
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_low_height_cropbox" default="false"/>
   <arg name="euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/euclidean_cluster.param.yaml"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/euclidean_cluster.launch.py">
     <arg name="input_points_raw_list" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="euclidean_param_path" value="$(var euclidean_param_path)"/>
+
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>

perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py

@@ -77,20 +77,27 @@ def load_composable_node_param(param_path):
         executable="component_container",
         composable_node_descriptions=[],
         output="screen",
+        condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")),
+    )
+
+    target_container = (
+        LaunchConfiguration("pointcloud_container_name")
+        if IfCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context)
+        else container
     )
 
     use_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[
             low_height_cropbox_filter_component,
             use_low_height_euclidean_component,
         ],
-        target_container=container,
+        target_container=target_container,
         condition=IfCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
 
     disuse_low_height_pointcloud_loader = LoadComposableNodes(
         composable_node_descriptions=[disuse_low_height_euclidean_component],
-        target_container=container,
+        target_container=target_container,
         condition=UnlessCondition(LaunchConfiguration("use_low_height_cropbox")),
     )
     return [
@@ -110,6 +117,8 @@ def add_launch_arg(name: str, default_value=None):
             add_launch_arg("input_map", "/map/pointcloud_map"),
             add_launch_arg("output_clusters", "clusters"),
             add_launch_arg("use_low_height_cropbox", "false"),
+            add_launch_arg("use_pointcloud_container", "false"),
+            add_launch_arg("pointcloud_container_name", "pointcloud_container"),
             add_launch_arg(
                 "voxel_grid_based_euclidean_param_path",
                 [

perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml

@@ -5,12 +5,17 @@
   <arg name="output_clusters" default="clusters"/>
   <arg name="use_low_height_cropbox" default="false"/>
   <arg name="voxel_grid_based_euclidean_param_path" default="$(find-pkg-share euclidean_cluster)/config/voxel_grid_based_euclidean_cluster.param.yaml"/>
+  <arg name="use_pointcloud_container" default="false"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
 
   <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.py">
     <arg name="input_pointcloud" value="$(var input_pointcloud)"/>
     <arg name="input_map" value="$(var input_map)"/>
     <arg name="output_clusters" value="$(var output_clusters)"/>
     <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
     <arg name="voxel_grid_based_euclidean_param_path" value="$(var voxel_grid_based_euclidean_param_path)"/>
+
+    <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+    <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
   </include>
 </launch>

perception/image_projection_based_fusion/README.md

@@ -53,6 +53,15 @@ The timeout threshold should be set according to the postprocessing time.
 E.g, if the postprocessing time is around 50ms, the timeout threshold should be set smaller than 50ms, so that the whole processing time could be less than 100ms.
 current default value at autoware.universe for XX1: - timeout_ms: 50.0
 
+#### The `build_only` option
+
+The `pointpainting_fusion` node has `build_only` option to build the TensorRT engine file from the ONNX file.
+Although it is preferred to move all the ROS parameters in `.param.yaml` file in Autoware Universe, the `build_only` option is not moved to the `.param.yaml` file for now, because it may be used as a flag to execute the build as a pre-task. You can execute with the following command:
+
+```bash
+ros2 launch image_projection_based_fusion pointpainting_fusion.launch.xml model_name:=pointpainting model_path:=/home/autoware/autoware_data/image_projection_based_fusion model_param_path:=$(ros2 pkg prefix image_projection_based_fusion --share)/config/pointpainting.param.yaml build_only:=true
+```
+
 #### Known Limits
 
 The rclcpp::TimerBase timer could not break a for loop, therefore even if time is out when fusing a roi msg at the middle, the program will run until all msgs are fused.

perception/image_projection_based_fusion/config/pointpainting.param.yaml

@@ -1,5 +1,11 @@
 /**:
   ros__parameters:
+    trt_precision: fp16
+    encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"
+    encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine"
+    head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"
+    head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"
+
     model_params:
       class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
       paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"]

perception/image_projection_based_fusion/config/segmentation_pointcloud_fusion.param.yaml

@@ -28,3 +28,13 @@
     # this is selected based on semantic segmentation model accuracy,
     # calibration accuracy and unknown reaction distance
     filter_distance_threshold: 60.0
+
+    # debug
+    debug_mode: false
+    filter_scope_minx: -100
+    filter_scope_maxx: 100
+    filter_scope_miny: -100
+    filter_scope_maxy: 100
+    filter_scope_minz: -100
+    filter_scope_maxz: 100
+    image_buffer_size: 15