From b85f13ac3969e59cceef4e202d5da652fbc75df6 Mon Sep 17 00:00:00 2001 From: SakodaShintaro Date: Thu, 1 Feb 2024 17:03:51 +0900 Subject: [PATCH 01/13] chore(twist2accel): rework parameters (#6266) * Added twist2accel.param.yaml Signed-off-by: Shintaro SAKODA * Added twist2accel.schema.json Signed-off-by: Shintaro SAKODA * Fixed README.md and description Signed-off-by: Shintaro SAKODA * style(pre-commit): autofix * Removed default parameters Signed-off-by: Shintaro SAKODA --------- Signed-off-by: Shintaro SAKODA Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../pose_twist_fusion_filter.launch.xml | 2 +- localization/twist2accel/CMakeLists.txt | 1 + localization/twist2accel/README.md | 5 +-- .../twist2accel/config/twist2accel.param.yaml | 4 +++ .../twist2accel/launch/twist2accel.launch.xml | 7 ++-- .../schema/twist2accel.schema.json | 36 +++++++++++++++++++ localization/twist2accel/src/twist2accel.cpp | 4 +-- 7 files changed, 48 insertions(+), 11 deletions(-) create mode 100644 localization/twist2accel/config/twist2accel.param.yaml create mode 100644 localization/twist2accel/schema/twist2accel.schema.json diff --git a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml index 23a1201a84958..bdea584bd58ae 100644 --- a/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml +++ b/launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml @@ -27,10 +27,10 @@ - + diff --git a/localization/twist2accel/CMakeLists.txt b/localization/twist2accel/CMakeLists.txt index 93b9546be0a36..59f23eacb2fb3 100644 --- a/localization/twist2accel/CMakeLists.txt +++ b/localization/twist2accel/CMakeLists.txt @@ -13,4 +13,5 @@ ament_target_dependencies(twist2accel) ament_auto_package( INSTALL_TO_SHARE launch + config ) diff --git a/localization/twist2accel/README.md b/localization/twist2accel/README.md index ec73c34052f99..5a540dca895d4 100644 --- a/localization/twist2accel/README.md +++ b/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 diff --git a/localization/twist2accel/config/twist2accel.param.yaml b/localization/twist2accel/config/twist2accel.param.yaml new file mode 100644 index 0000000000000..e58e029248253 --- /dev/null +++ b/localization/twist2accel/config/twist2accel.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + use_odom: true + accel_lowpass_gain: 0.9 diff --git a/localization/twist2accel/launch/twist2accel.launch.xml b/localization/twist2accel/launch/twist2accel.launch.xml index 47b8a95d13a08..c4c9a3ed50bfc 100644 --- a/localization/twist2accel/launch/twist2accel.launch.xml +++ b/localization/twist2accel/launch/twist2accel.launch.xml @@ -1,6 +1,6 @@ - - + + @@ -8,7 +8,6 @@ - - + diff --git a/localization/twist2accel/schema/twist2accel.schema.json b/localization/twist2accel/schema/twist2accel.schema.json new file mode 100644 index 0000000000000..6b3c2bd094166 --- /dev/null +++ b/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": ["/**"] +} diff --git a/localization/twist2accel/src/twist2accel.cpp b/localization/twist2accel/src/twist2accel.cpp index a8a7d46f57056..68019f27e95fe 100644 --- a/localization/twist2accel/src/twist2accel.cpp +++ b/localization/twist2accel/src/twist2accel.cpp @@ -35,8 +35,8 @@ Twist2Accel::Twist2Accel(const std::string & node_name, const rclcpp::NodeOption pub_accel_ = create_publisher("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("accel_lowpass_gain"); + use_odom_ = declare_parameter("use_odom"); lpf_alx_ptr_ = std::make_shared(accel_lowpass_gain_); lpf_aly_ptr_ = std::make_shared(accel_lowpass_gain_); From 7686fa069fd044d59bfb9f02f094a411ed666c39 Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Thu, 1 Feb 2024 17:09:52 +0900 Subject: [PATCH 02/13] chore(tier4_map_launch): add maintainer (#6284) Signed-off-by: Yamato Ando --- launch/tier4_map_launch/package.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index f75a181bfb659..8fb41076204a8 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -8,6 +8,11 @@ Ryu Yamamoto Koji Minoda Kento Yabuuchi + Yamato Ando + NGUYEN Viet Anh + Taiki Yamada + Shintaro Sakoda + Masahiro Sakamoto Apache License 2.0 ament_cmake_auto From ee25365a1ad389e3decadbbab6faadf7aa054e3b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 1 Feb 2024 17:23:20 +0900 Subject: [PATCH 03/13] feat(intersection_occlusion)!: react RTC disapproval and stop even if occlusion detection is OFF (#6279) Signed-off-by: Mamoru Sobue --- .../src/scene_intersection.cpp | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 3f6136673a44a..3cf243b7893fc 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -735,9 +735,7 @@ void reactRTCApprovalByDecisionResult( path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); } } - if ( - !rtc_occlusion_approved && decision_result.occlusion_stopline_idx && - planner_param.occlusion.enable) { + if (!rtc_occlusion_approved && decision_result.occlusion_stopline_idx) { const auto occlusion_stopline_idx = decision_result.occlusion_stopline_idx.value(); planning_utils::setVelocityFromIndex(occlusion_stopline_idx, 0.0, path); debug_data->occlusion_stop_wall_pose = @@ -814,7 +812,7 @@ void reactRTCApprovalByDecisionResult( path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); } } - if (!rtc_occlusion_approved && planner_param.occlusion.enable) { + if (!rtc_occlusion_approved) { const auto stopline_idx = decision_result.occlusion_stopline_idx; planning_utils::setVelocityFromIndex(stopline_idx, 0.0, path); debug_data->occlusion_stop_wall_pose = @@ -857,7 +855,7 @@ void reactRTCApprovalByDecisionResult( path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); } } - if (!rtc_occlusion_approved && planner_param.occlusion.enable) { + if (!rtc_occlusion_approved) { if (planner_param.occlusion.creep_during_peeking.enable) { const size_t occlusion_peeking_stopline = decision_result.occlusion_stopline_idx; const size_t closest_idx = decision_result.closest_idx; @@ -895,7 +893,7 @@ void reactRTCApprovalByDecisionResult( "PeekingTowardOcclusion, approval = (default: %d, occlusion: %d)", rtc_default_approved, rtc_occlusion_approved); // NOTE: creep_velocity should be inserted first at closest_idx if !rtc_default_approved - if (!rtc_occlusion_approved && planner_param.occlusion.enable) { + if (!rtc_occlusion_approved) { const size_t occlusion_peeking_stopline = decision_result.temporal_stop_before_attention_required ? decision_result.first_attention_stopline_idx @@ -965,7 +963,7 @@ void reactRTCApprovalByDecisionResult( path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); } } - if (!rtc_occlusion_approved && planner_param.occlusion.enable) { + if (!rtc_occlusion_approved) { const auto stopline_idx = decision_result.temporal_stop_before_attention_required ? decision_result.first_attention_stopline_idx : decision_result.occlusion_stopline_idx; @@ -1066,7 +1064,7 @@ void reactRTCApprovalByDecisionResult( path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); } } - if (!rtc_occlusion_approved && planner_param.occlusion.enable) { + if (!rtc_occlusion_approved) { const auto stopline_idx = decision_result.occlusion_stopline_idx; planning_utils::setVelocityFromIndex(stopline_idx, 0.0, path); debug_data->occlusion_stop_wall_pose = @@ -1110,7 +1108,7 @@ void reactRTCApprovalByDecisionResult( path->points.at(stopline_idx).point.pose, VelocityFactor::UNKNOWN); } } - if (!rtc_occlusion_approved && planner_param.occlusion.enable) { + if (!rtc_occlusion_approved) { const auto stopline_idx = decision_result.occlusion_stopline_idx; planning_utils::setVelocityFromIndex(stopline_idx, 0.0, path); debug_data->occlusion_stop_wall_pose = From 60009363f0f7dcf2ebbc0049f0661e9e802c2d91 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Thu, 1 Feb 2024 11:28:14 +0300 Subject: [PATCH 04/13] feat(pointcloud_preprocessor): add pipeline latency time debug information for pointcloud pipeline (#6056) --- sensing/pointcloud_preprocessor/README.md | 40 +++++++++++++++++- .../pointcloud_preprocess_pipeline.drawio.png | Bin 0 -> 60904 bytes .../concatenate_and_time_sync_nodelet.cpp | 14 ++++++ .../crop_box_filter_nodelet.cpp | 10 ++++- .../distortion_corrector.cpp | 10 +++++ .../ring_outlier_filter_nodelet.cpp | 8 ++++ 6 files changed, 80 insertions(+), 2 deletions(-) create mode 100644 sensing/pointcloud_preprocessor/docs/image/pointcloud_preprocess_pipeline.drawio.png diff --git a/sensing/pointcloud_preprocessor/README.md b/sensing/pointcloud_preprocessor/README.md index 91ef34f4cae72..5c6402efdf23d 100644 --- a/sensing/pointcloud_preprocessor/README.md +++ b/sensing/pointcloud_preprocessor/README.md @@ -56,7 +56,45 @@ Detail description of each filter's algorithm is in the following links. ## Assumptions / Known limits -`pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because of [this issue](https://github.com/ros-perception/perception_pcl/issues/9). +`pointcloud_preprocessor::Filter` is implemented based on pcl_perception [1] because +of [this issue](https://github.com/ros-perception/perception_pcl/issues/9). + +## Measuring the performance + +In Autoware, point cloud data from each LiDAR sensor undergoes preprocessing in the sensing pipeline before being input +into the perception pipeline. The preprocessing stages are illustrated in the diagram below: + +![pointcloud_preprocess_pipeline.drawio.png](docs%2Fimage%2Fpointcloud_preprocess_pipeline.drawio.png) + +Each stage in the pipeline incurs a processing delay. Mostly, we've used `ros2 topic delay /topic_name` to measure +the time between the message header and the current time. This approach works well for small-sized messages. However, +when dealing with large point cloud messages, this method introduces an additional delay. This is primarily because +accessing these large point cloud messages externally impacts the pipeline's performance. + +Our sensing/perception nodes are designed to run within composable node containers, leveraging intra-process +communication. External subscriptions to these messages (like using ros2 topic delay or rviz2) impose extra delays and +can even slow down the pipeline by subscribing externally. Therefore, these measurements will not be accurate. + +To mitigate this issue, we've adopted a method where each node in the pipeline reports its pipeline latency time. +This approach ensures the integrity of intra-process communication and provides a more accurate measure of delays in the +pipeline. + +### Benchmarking The Pipeline + +The nodes within the pipeline report the pipeline latency time, indicating the duration from the sensor driver's pointcloud +output to the node's output. This data is crucial for assessing the pipeline's health and efficiency. + +When running Autoware, you can monitor the pipeline latency times for each node in the pipeline by subscribing to the +following ROS 2 topics: + +- `/sensing/lidar/LidarX/crop_box_filter_self/debug/pipeline_latency_ms` +- `/sensing/lidar/LidarX/crop_box_filter_mirror/debug/pipeline_latency_ms` +- `/sensing/lidar/LidarX/distortion_corrector/debug/pipeline_latency_ms` +- `/sensing/lidar/LidarX/ring_outlier_filter/debug/pipeline_latency_ms` +- `/sensing/lidar/concatenate_data_synchronizer/debug/sensing/lidar/LidarX/pointcloud/pipeline_latency_ms` + +These topics provide the pipeline latency times, giving insights into the delays at various stages of the pipeline +from the sensor output of LidarX to each subsequent node. ## (Optional) Error detection and handling diff --git a/sensing/pointcloud_preprocessor/docs/image/pointcloud_preprocess_pipeline.drawio.png 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zXt+GA3!m_@AUl_2660?P_G8!Z1mIdNi#zl z3Bm?M$jOGz89+IJ!%n(rS$csyJ2eT>sGA{#sgF;HYee%yk?K=R#mQY^Hc)?eH(^4zAVlS+rpb% zKr@+CuVQM&dW4)Nw^H3<eEwEvdV<%VX5 z2N7Z)qrrIDK~xA!=%(74*{?1rAMG$m=X9L`~47t46HdygH zwX1#|FcO3#cEqJM;P~P}TrxhYd|387rBV*e9(AAROO=0}A^==xK>(rM`JX%e-@N(; jO!ch%!7~|@h052YwEJ?U9&d{}WWYt( + std::chrono::nanoseconds( + (this->get_clock()->now() - e.second->header.stamp).nanoseconds())) + .count(); + debug_publisher_->publish( + "debug" + e.first + "/pipeline_latency_ms", pipeline_latency_ms); + } + } + } + // publish concatenated pointcloud if (concat_cloud_ptr) { auto output = std::make_unique(*concat_cloud_ptr); diff --git a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp index 20d1f5c8b3d6d..cfbeffee9982c 100644 --- a/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/crop_box_filter/crop_box_filter_nodelet.cpp @@ -65,7 +65,7 @@ CropBoxFilterComponent::CropBoxFilterComponent(const rclcpp::NodeOptions & optio using tier4_autoware_utils::DebugPublisher; using tier4_autoware_utils::StopWatch; stop_watch_ptr_ = std::make_unique>(); - debug_publisher_ = std::make_unique(this, "crop_box_filter"); + debug_publisher_ = std::make_unique(this, this->get_name()); stop_watch_ptr_->tic("cyclic_time"); stop_watch_ptr_->tic("processing_time"); } @@ -195,6 +195,14 @@ void CropBoxFilterComponent::faster_filter( "debug/cyclic_time_ms", cyclic_time_ms); debug_publisher_->publish( "debug/processing_time_ms", processing_time_ms); + + auto pipeline_latency_ms = + std::chrono::duration( + std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds())) + .count(); + + debug_publisher_->publish( + "debug/pipeline_latency_ms", pipeline_latency_ms); } } diff --git a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp index dd38b85a2b56d..d1d91ed7ec439 100644 --- a/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp +++ b/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp @@ -128,6 +128,16 @@ void DistortionCorrectorComponent::onPointCloud(PointCloud2::UniquePtr points_ms undistortPointCloud(tf2_base_link_to_sensor, *points_msg); + if (debug_publisher_) { + auto pipeline_latency_ms = + std::chrono::duration( + std::chrono::nanoseconds( + (this->get_clock()->now() - points_msg->header.stamp).nanoseconds())) + .count(); + debug_publisher_->publish( + "debug/pipeline_latency_ms", pipeline_latency_ms); + } + undistorted_points_pub_->publish(std::move(points_msg)); // add processing time for debug diff --git a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp index d2570b9c4d786..d968b06a0dc61 100644 --- a/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp +++ b/sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp @@ -204,6 +204,14 @@ void RingOutlierFilterComponent::faster_filter( "debug/cyclic_time_ms", cyclic_time_ms); debug_publisher_->publish( "debug/processing_time_ms", processing_time_ms); + + auto pipeline_latency_ms = + std::chrono::duration( + std::chrono::nanoseconds((this->get_clock()->now() - input->header.stamp).nanoseconds())) + .count(); + + debug_publisher_->publish( + "debug/pipeline_latency_ms", pipeline_latency_ms); } } From 9687a49ea7e4e141bf93d82422484e7e156cd747 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 1 Feb 2024 17:43:00 +0900 Subject: [PATCH 05/13] ci(build-and-test-differential): add df -h (#6283) * ci(build-and-test-differential): add df -h Signed-off-by: kminoda * ci: update yaml format Signed-off-by: kminoda --------- Signed-off-by: kminoda --- .github/workflows/build-and-test-differential.yaml | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index f25c2fe07aab5..e3711d413cb68 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -36,6 +36,9 @@ 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 +72,9 @@ 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 From 742f44a5e647807d164740dd1185066ed363b6fb Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 1 Feb 2024 17:43:47 +0900 Subject: [PATCH 06/13] feat(detection): add container option (#6228) * feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option Signed-off-by: kminoda * revert lidar_perception_model Signed-off-by: kminoda * style(pre-commit): autofix * fix: add options Signed-off-by: kminoda * fix: fix default param Signed-off-by: kminoda * update node name Signed-off-by: kminoda * fix: fix IfCondition Signed-off-by: kminoda * fix pointpainting namespace Signed-off-by: kminoda * fix: fix launch args Signed-off-by: kminoda * fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true Signed-off-by: kminoda * fix(euclidean_cluster): fix launch condition Signed-off-by: kminoda * fix(euclidean_cluster): fix launch condition Signed-off-by: kminoda * Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa --- .../detector/camera_lidar_detector.launch.xml | 3 + .../detector/lidar_dnn_detector.launch.xml | 3 + .../detector/lidar_rule_detector.launch.xml | 3 + .../launch/euclidean_cluster.launch.py | 13 ++++- .../launch/euclidean_cluster.launch.xml | 5 ++ ...xel_grid_based_euclidean_cluster.launch.py | 13 ++++- ...el_grid_based_euclidean_cluster.launch.xml | 5 ++ .../launch/pointpainting_fusion.launch.xml | 51 ++++++++++++++++- .../detection_class_remapper.param.yaml | 6 +- .../launch/lidar_centerpoint.launch.xml | 57 +++++++++++++------ 10 files changed, 135 insertions(+), 24 deletions(-) diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml index 1c9201a9af8b3..2232feb6d7c67 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml @@ -85,6 +85,9 @@ + + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml index 1a97659b357d8..5b5fabd4dd886 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml @@ -22,6 +22,9 @@ + + + diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml index ce34640bd3179..cec0c3bc05aac 100644 --- a/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml +++ b/launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml @@ -26,6 +26,9 @@ + + + diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py index 66c25396a656e..b8d4f61a9cf28 100644 --- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.py +++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.py @@ -76,6 +76,13 @@ 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( @@ -83,13 +90,13 @@ def load_composable_node_param(param_path): 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", [ diff --git a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml index fd1ea82befae0..f4deeccf7b76c 100644 --- a/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml +++ b/perception/euclidean_cluster/launch/euclidean_cluster.launch.xml @@ -5,6 +5,8 @@ + + @@ -12,5 +14,8 @@ + + + diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py index 00bcd4422bd3c..607e1bf30ccaa 100644 --- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py +++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.py @@ -77,6 +77,13 @@ 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( @@ -84,13 +91,13 @@ def load_composable_node_param(param_path): 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", [ diff --git a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml index b6a426dabfd12..3a7c685d8f449 100644 --- a/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml +++ b/perception/euclidean_cluster/launch/voxel_grid_based_euclidean_cluster.launch.xml @@ -5,6 +5,8 @@ + + @@ -12,5 +14,8 @@ + + + diff --git a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml index 33781461fa1cc..db13d73e37fa7 100644 --- a/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml +++ b/perception/image_projection_based_fusion/launch/pointpainting_fusion.launch.xml @@ -26,6 +26,9 @@ + + + @@ -38,7 +41,53 @@ - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml index ed378ffa44a70..baea087c96bca 100644 --- a/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml +++ b/perception/lidar_centerpoint/config/detection_class_remapper.param.yaml @@ -29,9 +29,9 @@ max_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS + 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE diff --git a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml index a7f181ab78ac6..1210875770510 100644 --- a/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml +++ b/perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml @@ -11,20 +11,45 @@ - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From a1d4df191ea28a4e6db280c56a8b12ccf1cd7b4e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Thu, 1 Feb 2024 18:26:36 +0900 Subject: [PATCH 07/13] docs(start_planner): show typical usecase of start planner and limitaion (#6264) * Add start planner module and related images * Update geometric pull out path generation in shoulder lane * Update README.md with additional path generation feature Signed-off-by: kyoichi-sugahara --------- Signed-off-by: kyoichi-sugahara --- .../README.md | 69 ++++++++++++++++-- .../images/freespace_pull_out.png | Bin 0 -> 533509 bytes .../images/geometric_pull_out_path.drawio.svg | 48 ++++++++++++ ...ometric_pull_out_path_with_back.drawio.svg | 57 +++++++++++++++ .../images/shift_pull_out_path.drawio.svg | 41 +++++++++++ ...ft_pull_out_path_from_road_lane.drawio.svg | 31 ++++++++ .../shift_pull_out_path_with_back.drawio.svg | 47 ++++++++++++ .../start_from_road_shoulder.drawio.svg | 35 --------- .../images/start_from_road_side.drawio.svg | 34 --------- .../images/start_planner_example.png | Bin 0 -> 247330 bytes 10 files changed, 285 insertions(+), 77 deletions(-) create mode 100644 planning/behavior_path_start_planner_module/images/freespace_pull_out.png create mode 100644 planning/behavior_path_start_planner_module/images/geometric_pull_out_path.drawio.svg create mode 100644 planning/behavior_path_start_planner_module/images/geometric_pull_out_path_with_back.drawio.svg create mode 100644 planning/behavior_path_start_planner_module/images/shift_pull_out_path.drawio.svg create mode 100644 planning/behavior_path_start_planner_module/images/shift_pull_out_path_from_road_lane.drawio.svg create mode 100644 planning/behavior_path_start_planner_module/images/shift_pull_out_path_with_back.drawio.svg delete mode 100644 planning/behavior_path_start_planner_module/images/start_from_road_shoulder.drawio.svg delete mode 100644 planning/behavior_path_start_planner_module/images/start_from_road_side.drawio.svg create mode 100644 planning/behavior_path_start_planner_module/images/start_planner_example.png diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index b26864eb450d5..5280f9c2ad020 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -2,24 +2,77 @@ ## Purpose / Role -The Start Planner module is designed to generate a path from the current ego position to the driving lane, avoiding static obstacles and stopping in response to dynamic obstacles when a collision is detected. +This module generates and plans a path for safely merging from the shoulder lane or side of road lane into the center of the road lane. -Use cases include: +Specifically, it includes the following features: -- pull out from the side of the road lane to centerline. +- Plan the path to automatically start from the shoulder lane or side of road lane to center of road lane. +- When parked vehicles are present on the shoulder lane, the module generates a path that allows for starting with a gap of a specified margin. +- If a collision with other traffic participants is detected while traveling on the generated path, it will stop as much as possible.
- ![case1](images/start_from_road_side.drawio.svg){width=1000} -
pull out from side of the road lane
+ ![start_planner_module](images/start_planner_example.png){width=1100}
-- pull out from the shoulder lane to the road lane centerline. +## Use Cases + +Give an typical example of how path generation is executed. Showing example of path generation starts from shoulder lane, but also from side of road lane can be generated. + +
+ ![shift_pull_out_from_road_lane](images/shift_pull_out_path_from_road_lane.drawio.svg){width=1100} +
+ +### **Use Case 1: Shift pull out** + +In the shoulder lane, when there are no parked vehicles ahead and the shoulder lane is sufficiently long, a forward shift pull out path (a clothoid curve with consistent jerk) is generated. + +
+ ![shift_pull_out](images/shift_pull_out_path.drawio.svg){width=1100} +
+ +### **Use Case 2: Geometric pull out** + +In the shoulder lane, when there are objects in front and the lane is not sufficiently long behind, a geometric pull out path is generated. + +
+ ![geometric_pull_out](images/geometric_pull_out_path.drawio.svg){width=1100} +
+ +### **Use Case 3: Backward and shift pull out** + +In the shoulder lane, when there are parked vehicles ahead and the lane is sufficiently long behind, a path that involves reversing before generating a forward shift pull out path is created. + +
+ ![shift_pull_out_with_back](images/shift_pull_out_path_with_back.drawio.svg){width=1100} +
+ +### **Use Case 4: Backward and geometric pull out** + +In the shoulder lane, when there is an object ahead and not enough space to reverse sufficiently, a path that involves reversing before making an geometric pull out is generated.
- ![case2](images/start_from_road_shoulder.drawio.svg){width=1000} -
pull out from the shoulder lane
+ ![geometric_pull_out_with_back](images/geometric_pull_out_path_with_back.drawio.svg){width=1100}
+### **Use Case 5: Freespace pull out** + +If the map is annotated with the information that a free space path can be generated in situations where both shift and geometric pull out paths are impossible to create, a path based on the free space algorithm will be generated. + +
+ ![freespace_path](images/freespace_pull_out.png){width=1100} +
+ +**As a note, the patterns for generating these paths are based on default parameters, but as will be explained in the following sections, it is possible to control aspects such as making paths that involve reversing more likely to be generated, or making geometric paths more likely to be generated, by changing the path generation policy or adjusting the margin around static objects.** + +## Limitations + +Here are some notable limitations: + +- If parked vehicles exist in front of, behind, or on both sides of the shoulder, and it's not possible to maintain a specified distance from them, a stopping path will be generated, leading to a potential deadlock. +- In the default settings of the behavior_path_planner, an avoidance module operates in a later stage and attempts to avoid objects. However, it is not guaranteed that the start_planner module will output a path that can successfully navigate around obstacles. This means that if an unavoidable path is generated, it could result in a deadlock. +- The performance of safety check relies on the accuracy of the predicted paths generated by the map_based_prediction node. It's important to note that, currently, predicted paths that consider acceleration are not generated, and paths for low-speed objects may not be accurately produced, which requires caution. +- Given the current specifications of the rule-based algorithms, there is a trade-off between the safety of a path and its naturalness to humans. While it's possible to adjust parameters to manage this trade-off, improvements are necessary to better reconcile these aspects. + ## Design ```plantuml diff --git a/planning/behavior_path_start_planner_module/images/freespace_pull_out.png b/planning/behavior_path_start_planner_module/images/freespace_pull_out.png new file mode 100644 index 0000000000000000000000000000000000000000..86b95379f9bc1a3b07446a2cc911d94555544db2 GIT binary patch literal 533509 zcmZU*1ymF4`#wGcMJz@rpwfsNN+T&4BSvh(Mo0>R2)uMRBFI3>QPN6mjC>Ig2|+v;tSU0){fvgPxv` z`J2OsYge59YDv@aOn!bNPsgbgVibvJ^_T77uxtHv#ICAsF-Q65(c8Zv61TB~QLA5* zq?{-2Lm-HjrKRGKy0rTGdQoBFG$K0H^3kJvotB!r8wI;8D}zTUOZ#0m_}w^cRG~9< z`uyg7h?DW=_&e_L#)+uN2yWKV(NS(>9KV5Oxs8Pda`wY&%1E0|U;i32lGi6+gLEym zE%klhcF^kbAaC{b+WV;AJyV(=Tn0<>XC6Hot4fjC4x{0+wVH}v_O_nxl`Eg_vUR!! zBX@FDIr$7-v9=!Yb-#}G9sYjn)Kf+!U?JydgZDlIEBljnwjz~r;@vQNrC zm|ihtmNVaSAWu}KUw&~sGs@3$_a~vNRIYn%ZnEdcj(){*MZ=wrwJ*O|N`kYvEvz=H zcwdr#eEEe(oxs$aZ7wrTch0(OGu`R=+4z?%=N1!F@_4mMaa+VVKm&h0qNsCSbuRME 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