From 6d8f026dcfa3e811ebeecd8fa72de9512ac47762 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Mon, 29 Jan 2024 12:52:17 +0900 Subject: [PATCH 01/17] refactor(lane_change): combine all debug data into single struct (#6173) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * refactor(lane_change): combine all debug data into single struct Signed-off-by: Zulfaqar Azmi * Rename valid path → valid paths Signed-off-by: Zulfaqar Azmi * move the marker creation to marker_utils Signed-off-by: Zulfaqar Azmi * Remove alias Signed-off-by: Zulfaqar Azmi --------- Signed-off-by: Zulfaqar Azmi --- .../interface.hpp | 2 +- .../utils/base_class.hpp | 22 ++------- .../utils/debug_structs.hpp | 49 +++++++++++++++++++ .../utils/markers.hpp | 4 ++ .../src/interface.cpp | 44 ++++------------- .../src/scene.cpp | 40 +++++++-------- .../src/utils/markers.cpp | 44 +++++++++++++++++ 7 files changed, 129 insertions(+), 76 deletions(-) create mode 100644 planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp index 4e741a2b3db2c..6a9a8c40c01d1 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/interface.hpp @@ -128,7 +128,7 @@ class LaneChangeInterface : public SceneModuleInterface bool canTransitIdleToRunningState() override; - void setObjectDebugVisualization() const; + void updateDebugMarker() const; void updateSteeringFactorPtr(const BehaviorModuleOutput & output); diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp index e78d706334bae..15fe2f8d2b8d9 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/base_class.hpp @@ -15,6 +15,7 @@ #define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__BASE_CLASS_HPP_ #include "behavior_path_lane_change_module/utils/data_structs.hpp" +#include "behavior_path_lane_change_module/utils/debug_structs.hpp" #include "behavior_path_lane_change_module/utils/path.hpp" #include "behavior_path_lane_change_module/utils/utils.hpp" #include "behavior_path_planner_common/interface/scene_module_interface.hpp" @@ -36,7 +37,6 @@ namespace behavior_path_planner { using autoware_auto_planning_msgs::msg::PathWithLaneId; -using behavior_path_planner::utils::path_safety_checker::CollisionCheckDebugMap; using data::lane_change::PathSafetyStatus; using geometry_msgs::msg::Point; using geometry_msgs::msg::Pose; @@ -137,19 +137,7 @@ class LaneChangeBase const LaneChangeStatus & getLaneChangeStatus() const { return status_; } - const LaneChangePaths & getDebugValidPath() const { return debug_valid_path_; } - - const CollisionCheckDebugMap & getDebugData() const { return object_debug_; } - - const CollisionCheckDebugMap & getAfterApprovalDebugData() const - { - return object_debug_after_approval_; - } - - const LaneChangeTargetObjects & getDebugFilteredObjects() const - { - return debug_filtered_objects_; - } + const data::lane_change::Debug & getDebugData() const { return lane_change_debug_; } const Pose & getEgoPose() const { return planner_data_->self_odometry->pose.pose; } @@ -257,12 +245,8 @@ class LaneChangeBase Direction direction_{Direction::NONE}; LaneChangeModuleType type_{LaneChangeModuleType::NORMAL}; - mutable LaneChangePaths debug_valid_path_{}; - mutable CollisionCheckDebugMap object_debug_{}; - mutable CollisionCheckDebugMap object_debug_after_approval_{}; - mutable LaneChangeTargetObjects debug_filtered_objects_{}; - mutable double object_debug_lifetime_{0.0}; mutable StopWatch stop_watch_; + mutable data::lane_change::Debug lane_change_debug_; rclcpp::Logger logger_ = utils::lane_change::getLogger(getModuleTypeStr()); mutable rclcpp::Clock clock_{RCL_ROS_TIME}; diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp new file mode 100644 index 0000000000000..8ac1ba3909a50 --- /dev/null +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/debug_structs.hpp @@ -0,0 +1,49 @@ +// Copyright 2024 TIER IV, Inc. +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +#ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_ +#define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_ + +#include "behavior_path_lane_change_module/utils/data_structs.hpp" +#include "behavior_path_lane_change_module/utils/path.hpp" + +#include + +#include + +namespace behavior_path_planner::data::lane_change +{ +using utils::path_safety_checker::CollisionCheckDebugMap; +struct Debug +{ + std::string module_type; + LaneChangePaths valid_paths; + CollisionCheckDebugMap collision_check_objects; + CollisionCheckDebugMap collision_check_objects_after_approval; + LaneChangeTargetObjects filtered_objects; + double collision_check_object_debug_lifetime{0.0}; + + void reset() + { + valid_paths.clear(); + collision_check_objects.clear(); + collision_check_objects_after_approval.clear(); + filtered_objects.current_lane.clear(); + filtered_objects.target_lane.clear(); + filtered_objects.other_lane.clear(); + collision_check_object_debug_lifetime = 0.0; + } +}; +} // namespace behavior_path_planner::data::lane_change + +#endif // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__DEBUG_STRUCTS_HPP_ diff --git a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/markers.hpp b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/markers.hpp index d6deecd4f46fa..427a26e9b4295 100644 --- a/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/markers.hpp +++ b/planning/behavior_path_lane_change_module/include/behavior_path_lane_change_module/utils/markers.hpp @@ -15,9 +15,11 @@ #ifndef BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_ #define BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_ +#include "behavior_path_lane_change_module/utils/debug_structs.hpp" #include "behavior_path_lane_change_module/utils/path.hpp" #include "behavior_path_planner_common/utils/path_safety_checker/path_safety_checker_parameters.hpp" +#include #include #include @@ -26,6 +28,7 @@ namespace marker_utils::lane_change_markers { using behavior_path_planner::LaneChangePath; +using behavior_path_planner::data::lane_change::Debug; using behavior_path_planner::utils::path_safety_checker::ExtendedPredictedObjects; using visualization_msgs::msg::MarkerArray; MarkerArray showAllValidLaneChangePath( @@ -37,5 +40,6 @@ MarkerArray showFilteredObjects( const ExtendedPredictedObjects & current_lane_objects, const ExtendedPredictedObjects & target_lane_objects, const ExtendedPredictedObjects & other_lane_objects, const std::string & ns); +MarkerArray createDebugMarkerArray(const Debug & debug_data); } // namespace marker_utils::lane_change_markers #endif // BEHAVIOR_PATH_LANE_CHANGE_MODULE__UTILS__MARKERS_HPP_ diff --git a/planning/behavior_path_lane_change_module/src/interface.cpp b/planning/behavior_path_lane_change_module/src/interface.cpp index c8e1229fe5af5..41d6b7aa6fc19 100644 --- a/planning/behavior_path_lane_change_module/src/interface.cpp +++ b/planning/behavior_path_lane_change_module/src/interface.cpp @@ -83,7 +83,7 @@ void LaneChangeInterface::updateData() if (isWaitingApproval()) { module_type_->updateLaneChangeStatus(); } - setObjectDebugVisualization(); + updateDebugMarker(); module_type_->updateSpecialData(); module_type_->resetStopPose(); @@ -109,7 +109,8 @@ BehaviorModuleOutput LaneChangeInterface::plan() stop_pose_ = module_type_->getStopPose(); - for (const auto & [uuid, data] : module_type_->getAfterApprovalDebugData()) { + const auto & lane_change_debug = module_type_->getDebugData(); + for (const auto & [uuid, data] : lane_change_debug.collision_check_objects_after_approval) { const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED; setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } @@ -133,7 +134,8 @@ BehaviorModuleOutput LaneChangeInterface::planWaitingApproval() out.drivable_area_info = getPreviousModuleOutput().drivable_area_info; out.turn_signal_info = getCurrentTurnSignalInfo(out.path, out.turn_signal_info); - for (const auto & [uuid, data] : module_type_->getDebugData()) { + const auto & lane_change_debug = module_type_->getDebugData(); + for (const auto & [uuid, data] : lane_change_debug.collision_check_objects) { const auto color = data.is_safe ? ColorName::GREEN : ColorName::RED; setObjectsOfInterestData(data.current_obj_pose, data.obj_shape, color); } @@ -291,7 +293,7 @@ bool LaneChangeInterface::canTransitFailureState() bool LaneChangeInterface::canTransitIdleToRunningState() { - setObjectDebugVisualization(); + updateDebugMarker(); auto log_debug_throttled = [&](std::string_view message) -> void { RCLCPP_DEBUG(getLogger(), "%s", message.data()); @@ -312,43 +314,15 @@ bool LaneChangeInterface::canTransitIdleToRunningState() return true; } -void LaneChangeInterface::setObjectDebugVisualization() const +void LaneChangeInterface::updateDebugMarker() const { - debug_marker_.markers.clear(); if (!parameters_->publish_debug_marker) { return; } - using marker_utils::showPolygon; - using marker_utils::showPredictedPath; - using marker_utils::showSafetyCheckInfo; - using marker_utils::lane_change_markers::showAllValidLaneChangePath; - using marker_utils::lane_change_markers::showFilteredObjects; - - const auto debug_data = module_type_->getDebugData(); - const auto debug_after_approval = module_type_->getAfterApprovalDebugData(); - const auto debug_valid_path = module_type_->getDebugValidPath(); - const auto debug_filtered_objects = module_type_->getDebugFilteredObjects(); debug_marker_.markers.clear(); - const auto add = [this](const MarkerArray & added) { - tier4_autoware_utils::appendMarkerArray(added, &debug_marker_); - }; - - add(showAllValidLaneChangePath(debug_valid_path, "lane_change_valid_paths")); - add(showFilteredObjects( - debug_filtered_objects.current_lane, debug_filtered_objects.target_lane, - debug_filtered_objects.other_lane, "object_filtered")); - if (!debug_data.empty()) { - add(showSafetyCheckInfo(debug_data, "object_debug_info")); - add(showPredictedPath(debug_data, "ego_predicted_path")); - add(showPolygon(debug_data, "ego_and_target_polygon_relation")); - } - - if (!debug_after_approval.empty()) { - add(showSafetyCheckInfo(debug_after_approval, "object_debug_info_after_approval")); - add(showPredictedPath(debug_after_approval, "ego_predicted_path_after_approval")); - add(showPolygon(debug_after_approval, "ego_and_target_polygon_relation_after_approval")); - } + using marker_utils::lane_change_markers::createDebugMarkerArray; + debug_marker_ = createDebugMarkerArray(module_type_->getDebugData()); } MarkerArray LaneChangeInterface::getModuleVirtualWall() diff --git a/planning/behavior_path_lane_change_module/src/scene.cpp b/planning/behavior_path_lane_change_module/src/scene.cpp index b115ab7c163c0..b56e9e544ea8d 100644 --- a/planning/behavior_path_lane_change_module/src/scene.cpp +++ b/planning/behavior_path_lane_change_module/src/scene.cpp @@ -97,7 +97,7 @@ std::pair NormalLaneChange::getSafePath(LaneChangePath & safe_path) lane_change_parameters_->rss_params_for_stuck, is_stuck); } - debug_valid_path_ = valid_paths; + lane_change_debug_.valid_paths = valid_paths; if (valid_paths.empty()) { safe_path.info.current_lanes = current_lanes; @@ -421,13 +421,8 @@ void NormalLaneChange::resetParameters() current_lane_change_state_ = LaneChangeStates::Normal; abort_path_ = nullptr; status_ = {}; + lane_change_debug_.reset(); - object_debug_.clear(); - object_debug_after_approval_.clear(); - debug_filtered_objects_.current_lane.clear(); - debug_filtered_objects_.target_lane.clear(); - debug_filtered_objects_.other_lane.clear(); - debug_valid_path_.clear(); RCLCPP_DEBUG(logger_, "reset all flags and debug information."); } @@ -1112,7 +1107,7 @@ bool NormalLaneChange::getLaneChangePaths( const utils::path_safety_checker::RSSparams rss_params, const bool is_stuck, const bool check_safety) const { - object_debug_.clear(); + lane_change_debug_.collision_check_objects.clear(); if (current_lanes.empty() || target_lanes.empty()) { RCLCPP_WARN(logger_, "target_neighbor_preferred_lane_poly_2d is empty. Not expected."); return false; @@ -1158,7 +1153,7 @@ bool NormalLaneChange::getLaneChangePaths( } const auto target_objects = getTargetObjects(current_lanes, target_lanes); - debug_filtered_objects_ = target_objects; + lane_change_debug_.filtered_objects = target_objects; const auto prepare_durations = calcPrepareDuration(current_lanes, target_lanes); @@ -1385,9 +1380,10 @@ bool NormalLaneChange::getLaneChangePaths( std::vector filtered_objects = filterObjectsInTargetLane(target_objects, target_lanes); if ( - !is_stuck && utils::lane_change::passParkedObject( - route_handler, *candidate_path, filtered_objects, lane_change_buffer, - is_goal_in_route, *lane_change_parameters_, object_debug_)) { + !is_stuck && + utils::lane_change::passParkedObject( + route_handler, *candidate_path, filtered_objects, lane_change_buffer, is_goal_in_route, + *lane_change_parameters_, lane_change_debug_.collision_check_objects)) { debug_print( "Reject: parking vehicle exists in the target lane, and the ego is not in stuck. Skip " "lane change."); @@ -1400,7 +1396,8 @@ bool NormalLaneChange::getLaneChangePaths( } const auto [is_safe, is_object_coming_from_rear] = isLaneChangePathSafe( - *candidate_path, target_objects, rss_params, is_stuck, object_debug_); + *candidate_path, target_objects, rss_params, is_stuck, + lane_change_debug_.collision_check_objects); if (is_safe) { debug_print("ACCEPT!!!: it is valid and safe!"); @@ -1423,7 +1420,7 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const const auto & target_lanes = status_.target_lanes; const auto target_objects = getTargetObjects(current_lanes, target_lanes); - debug_filtered_objects_ = target_objects; + lane_change_debug_.filtered_objects = target_objects; CollisionCheckDebugMap debug_data; const bool is_stuck = isVehicleStuck(current_lanes); @@ -1431,16 +1428,17 @@ PathSafetyStatus NormalLaneChange::isApprovedPathSafe() const path, target_objects, lane_change_parameters_->rss_params_for_abort, is_stuck, debug_data); { // only for debug purpose - object_debug_.clear(); - object_debug_lifetime_ += (stop_watch_.toc(getModuleTypeStr()) / 1000); - if (object_debug_lifetime_ > 2.0) { + lane_change_debug_.collision_check_objects.clear(); + lane_change_debug_.collision_check_object_debug_lifetime += + (stop_watch_.toc(getModuleTypeStr()) / 1000); + if (lane_change_debug_.collision_check_object_debug_lifetime > 2.0) { stop_watch_.toc(getModuleTypeStr(), true); - object_debug_lifetime_ = 0.0; - object_debug_after_approval_.clear(); + lane_change_debug_.collision_check_object_debug_lifetime = 0.0; + lane_change_debug_.collision_check_objects_after_approval.clear(); } if (!safety_status.is_safe) { - object_debug_after_approval_ = debug_data; + lane_change_debug_.collision_check_objects_after_approval = debug_data; } } @@ -1802,7 +1800,7 @@ bool NormalLaneChange::isVehicleStuck( using lanelet::utils::getArcCoordinates; const auto base_distance = getArcCoordinates(current_lanes, getEgoPose()).length; - for (const auto & object : debug_filtered_objects_.current_lane) { + for (const auto & object : lane_change_debug_.filtered_objects.current_lane) { const auto & p = object.initial_pose.pose; // TODO(Horibe): consider footprint point // Note: it needs chattering prevention. diff --git a/planning/behavior_path_lane_change_module/src/utils/markers.cpp b/planning/behavior_path_lane_change_module/src/utils/markers.cpp index 719acba405a68..523b770734bc5 100644 --- a/planning/behavior_path_lane_change_module/src/utils/markers.cpp +++ b/planning/behavior_path_lane_change_module/src/utils/markers.cpp @@ -22,6 +22,7 @@ #include #include #include +#include #include #include @@ -120,4 +121,47 @@ MarkerArray showFilteredObjects( marker_array.markers.end(), other_marker.markers.begin(), other_marker.markers.end()); return marker_array; } + +MarkerArray createDebugMarkerArray(const Debug & debug_data) +{ + using marker_utils::showPolygon; + using marker_utils::showPredictedPath; + using marker_utils::showSafetyCheckInfo; + using marker_utils::lane_change_markers::showAllValidLaneChangePath; + using marker_utils::lane_change_markers::showFilteredObjects; + + const auto & debug_collision_check_object = debug_data.collision_check_objects; + const auto & debug_collision_check_object_after_approval = + debug_data.collision_check_objects_after_approval; + const auto & debug_valid_paths = debug_data.valid_paths; + const auto & debug_filtered_objects = debug_data.filtered_objects; + + MarkerArray debug_marker; + const auto add = [&debug_marker](const MarkerArray & added) { + tier4_autoware_utils::appendMarkerArray(added, &debug_marker); + }; + + add(showAllValidLaneChangePath(debug_valid_paths, "lane_change_valid_paths")); + add(showFilteredObjects( + debug_filtered_objects.current_lane, debug_filtered_objects.target_lane, + debug_filtered_objects.other_lane, "object_filtered")); + + if (!debug_collision_check_object.empty()) { + add(showSafetyCheckInfo(debug_collision_check_object, "collision_check_object_info")); + add(showPredictedPath(debug_collision_check_object, "ego_predicted_path")); + add(showPolygon(debug_collision_check_object, "ego_and_target_polygon_relation")); + } + + if (!debug_collision_check_object_after_approval.empty()) { + add(showSafetyCheckInfo( + debug_collision_check_object_after_approval, "object_debug_info_after_approval")); + add(showPredictedPath( + debug_collision_check_object_after_approval, "ego_predicted_path_after_approval")); + add(showPolygon( + debug_collision_check_object_after_approval, + "ego_and_target_polygon_relation_after_approval")); + } + + return debug_marker; +} } // namespace marker_utils::lane_change_markers From daf082474c3e286949f132ed7b0b5ad02b65d224 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jan 2024 14:01:37 +0900 Subject: [PATCH 02/17] fix(tier4_perception_launch): fix a bug in #6159 (#6203) Signed-off-by: kminoda --- launch/tier4_perception_launch/launch/perception.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml index 3bd3aff10a4e4..e8c19382864ba 100644 --- a/launch/tier4_perception_launch/launch/perception.launch.xml +++ b/launch/tier4_perception_launch/launch/perception.launch.xml @@ -16,8 +16,8 @@ - - + + From f9ed5b0ff141c0aaac62b523129282a925437430 Mon Sep 17 00:00:00 2001 From: Yoshi Ri Date: Mon, 29 Jan 2024 15:06:46 +0900 Subject: [PATCH 03/17] fix(tracking_object_merger): enable to association unknown class in tracker merger (#6182) * fix: enable to association unknown class in tracker merger Signed-off-by: yoshiri * chore: disable warning messages caused by unknown association Signed-off-by: yoshiri --------- Signed-off-by: yoshiri --- .../config/data_association_matrix.param.yaml | 6 +++--- perception/tracking_object_merger/src/utils/utils.cpp | 6 +++--- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/perception/tracking_object_merger/config/data_association_matrix.param.yaml b/perception/tracking_object_merger/config/data_association_matrix.param.yaml index 702809b3cede1..c232dbde40b51 100644 --- a/perception/tracking_object_merger/config/data_association_matrix.param.yaml +++ b/perception/tracking_object_merger/config/data_association_matrix.param.yaml @@ -3,7 +3,7 @@ lidar-lidar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS @@ -59,7 +59,7 @@ lidar-radar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS @@ -115,7 +115,7 @@ radar-radar: can_assign_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + [1, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN 0, 1, 1, 1, 1, 0, 0, 0, #CAR 0, 1, 1, 1, 1, 0, 0, 0, #TRUCK 0, 1, 1, 1, 1, 0, 0, 0, #BUS diff --git a/perception/tracking_object_merger/src/utils/utils.cpp b/perception/tracking_object_merger/src/utils/utils.cpp index 81f63538f9e22..85ab105e61038 100644 --- a/perception/tracking_object_merger/src/utils/utils.cpp +++ b/perception/tracking_object_merger/src/utils/utils.cpp @@ -484,9 +484,9 @@ void updateWholeTrackedObject(TrackedObject & main_obj, const TrackedObject & su { if (!objectsHaveSameMotionDirections(main_obj, sub_obj)) { // warning - std::cerr << "[object_tracking_merger]: motion direction is different in " - "updateWholeTrackedObject function." - << std::endl; + // std::cerr << "[object_tracking_merger]: motion direction is different in " + // "updateWholeTrackedObject function." + // << std::endl; } main_obj = sub_obj; } From f6e4550c9de48136ba809d5de5e96d0473a11a4b Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Mon, 29 Jan 2024 16:25:09 +0900 Subject: [PATCH 04/17] refactor(ndt_scan_matcher): rename de-grounded (#6186) * refactor(ndt_scan_matcher): rename de-grounded Signed-off-by: Yamato Ando * style(pre-commit): autofix --------- Signed-off-by: Yamato Ando Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- localization/ndt_scan_matcher/README.md | 18 ++++++++---------- .../config/ndt_scan_matcher.param.yaml | 5 ++--- .../ndt_scan_matcher/ndt_scan_matcher_core.hpp | 3 +-- .../src/ndt_scan_matcher_core.cpp | 9 ++++----- 4 files changed, 15 insertions(+), 20 deletions(-) diff --git a/localization/ndt_scan_matcher/README.md b/localization/ndt_scan_matcher/README.md index 95a7cebdc01c8..7956a663f92d5 100644 --- a/localization/ndt_scan_matcher/README.md +++ b/localization/ndt_scan_matcher/README.md @@ -31,13 +31,13 @@ One optional function is regularization. Please see the regularization chapter i | `ndt_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | estimated pose with covariance | | `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | diagnostics | | `points_aligned` | `sensor_msgs::msg::PointCloud2` | [debug topic] pointcloud aligned by scan matching | -| `points_aligned_no_ground` | `sensor_msgs::msg::PointCloud2` | [debug topic] de-grounded pointcloud aligned by scan matching | +| `points_aligned_no_ground` | `sensor_msgs::msg::PointCloud2` | [debug topic] no ground pointcloud aligned by scan matching | | `initial_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | [debug topic] initial pose used in scan matching | | `multi_ndt_pose` | `geometry_msgs::msg::PoseArray` | [debug topic] estimated poses from multiple initial poses in real-time covariance estimation | | `multi_initial_pose` | `geometry_msgs::msg::PoseArray` | [debug topic] initial poses for real-time covariance estimation | | `exe_time_ms` | `tier4_debug_msgs::msg::Float32Stamped` | [debug topic] execution time for scan matching [ms] | | `transform_probability` | `tier4_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching | -| `no_ground_transform_probability` | `tier4_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching based on de-grounded LiDAR scan | +| `no_ground_transform_probability` | `tier4_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching based on no ground LiDAR scan | | `iteration_num` | `tier4_debug_msgs::msg::Int32Stamped` | [debug topic] number of scan matching iterations | | `initial_to_result_relative_pose` | `geometry_msgs::msg::PoseStamped` | [debug topic] relative pose between the initial point and the convergence point | | `initial_to_result_distance` | `tier4_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the initial point and the convergence point [m] | @@ -228,21 +228,19 @@ Here is a split PCD map for `sample-map-rosbag` from Autoware tutorial: [`sample | single file | at once (standard) | | multiple files | dynamically | -## Scan matching score based on de-grounded LiDAR scan +## Scan matching score based on no ground LiDAR scan ### Abstract -This is a function that uses de-grounded LiDAR scan to estimate the scan matching score. This score can reflect the current localization performance more accurately. +This is a function that uses no ground LiDAR scan to estimate the scan matching score. This score can reflect the current localization performance more accurately. [related issue](https://github.com/autowarefoundation/autoware.universe/issues/2044). ### Parameters - - -| Name | Type | Description | -| ------------------------------------- | ------ | ------------------------------------------------------------------------------------- | -| `estimate_scores_for_degrounded_scan` | bool | Flag for using scan matching score based on de-grounded LiDAR scan (FALSE by default) | -| `z_margin_for_ground_removal` | double | Z-value margin for removal ground points | +| Name | Type | Description | +| ------------------------------------- | ------ | ----------------------------------------------------------------------------------- | +| `estimate_scores_by_no_ground_points` | bool | Flag for using scan matching score based on no ground LiDAR scan (FALSE by default) | +| `z_margin_for_ground_removal` | double | Z-value margin for removal ground points | ## 2D real-time covariance estimation diff --git a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml index a5a4941bfec62..d4c49b7e8eec5 100644 --- a/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml +++ b/localization/ndt_scan_matcher/config/ndt_scan_matcher.param.yaml @@ -95,9 +95,8 @@ # Radius of input LiDAR range (used for diagnostics of dynamic map loading) lidar_radius: 100.0 - # cspell: ignore degrounded - # A flag for using scan matching score based on de-grounded LiDAR scan - estimate_scores_for_degrounded_scan: false + # A flag for using scan matching score based on no ground LiDAR scan + estimate_scores_by_no_ground_points: false # If lidar_point.z - base_link.z <= this threshold , the point will be removed z_margin_for_ground_removal: 0.8 diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp index e2503c20aef6e..2883aa761444d 100644 --- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -220,8 +220,7 @@ class NDTScanMatcher : public rclcpp::Node std::unique_ptr map_update_module_; std::unique_ptr logger_configure_; - // cspell: ignore degrounded - bool estimate_scores_for_degrounded_scan_; + bool estimate_scores_by_no_ground_points_; double z_margin_for_ground_removal_; // The execution time which means probably NDT cannot matches scans properly diff --git a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index 0382d805b7276..0278a62341981 100644 --- a/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -64,7 +64,6 @@ Eigen::Matrix2d find_rotation_matrix_aligning_covariance_to_principal_axes( throw std::runtime_error("Eigen solver failed. Return output_pose_covariance value."); } -// cspell: ignore degrounded NDTScanMatcher::NDTScanMatcher() : Node("ndt_scan_matcher"), tf2_broadcaster_(*this), @@ -160,8 +159,8 @@ NDTScanMatcher::NDTScanMatcher() this->declare_parameter("initial_estimate_particles_num"); n_startup_trials_ = this->declare_parameter("n_startup_trials"); - estimate_scores_for_degrounded_scan_ = - this->declare_parameter("estimate_scores_for_degrounded_scan"); + estimate_scores_by_no_ground_points_ = + this->declare_parameter("estimate_scores_by_no_ground_points"); z_margin_for_ground_removal_ = this->declare_parameter("z_margin_for_ground_removal"); @@ -526,8 +525,8 @@ void NDTScanMatcher::callback_sensor_points( *sensor_points_in_baselink_frame, *sensor_points_in_map_ptr, ndt_result.pose); publish_point_cloud(sensor_ros_time, map_frame_, sensor_points_in_map_ptr); - // whether use de-grounded points calculate score - if (estimate_scores_for_degrounded_scan_) { + // whether use no ground points to calculate score + if (estimate_scores_by_no_ground_points_) { // remove ground pcl::shared_ptr> no_ground_points_in_map_ptr( new pcl::PointCloud); From d57381b6da871c435f41c00c247aa6e226c37bca Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Mon, 29 Jan 2024 16:40:29 +0900 Subject: [PATCH 05/17] fix(simple_object_merger): change the default param of timeout_threshold (#6133) * fix(simple_object_merger): change the default param of timeout_threshold Signed-off-by: scepter914 * fix conflict Signed-off-by: scepter914 --------- Signed-off-by: scepter914 --- .../simple_object_merger/launch/simple_object_merger.launch.xml | 2 +- .../src/simple_object_merger_node/simple_object_merger_node.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/perception/simple_object_merger/launch/simple_object_merger.launch.xml b/perception/simple_object_merger/launch/simple_object_merger.launch.xml index 14fca01fa6438..ccd038c23b257 100644 --- a/perception/simple_object_merger/launch/simple_object_merger.launch.xml +++ b/perception/simple_object_merger/launch/simple_object_merger.launch.xml @@ -4,7 +4,7 @@ - + diff --git a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp index 693fccb7e937c..683c6921eef5b 100644 --- a/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp +++ b/perception/simple_object_merger/src/simple_object_merger_node/simple_object_merger_node.cpp @@ -82,7 +82,7 @@ SimpleObjectMergerNode::SimpleObjectMergerNode(const rclcpp::NodeOptions & node_ // Node Parameter node_param_.update_rate_hz = declare_parameter("update_rate_hz", 20.0); node_param_.new_frame_id = declare_parameter("new_frame_id", "base_link"); - node_param_.timeout_threshold = declare_parameter("timeout_threshold", 1.0); + node_param_.timeout_threshold = declare_parameter("timeout_threshold", 0.1); declare_parameter("input_topics", std::vector()); node_param_.topic_names = get_parameter("input_topics").as_string_array(); From 43100454f9b49c24773f26d8870038f7fdd73129 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 29 Jan 2024 16:44:55 +0900 Subject: [PATCH 06/17] feat(intersection, blind_spot): add objects of interest marker (#6201) Signed-off-by: Mamoru Sobue --- planning/behavior_velocity_blind_spot_module/src/scene.cpp | 4 +++- planning/behavior_velocity_blind_spot_module/src/scene.hpp | 2 +- .../src/scene_intersection_collision.cpp | 5 ++++- 3 files changed, 8 insertions(+), 3 deletions(-) diff --git a/planning/behavior_velocity_blind_spot_module/src/scene.cpp b/planning/behavior_velocity_blind_spot_module/src/scene.cpp index efbff7e2af51d..54314e50308ff 100644 --- a/planning/behavior_velocity_blind_spot_module/src/scene.cpp +++ b/planning/behavior_velocity_blind_spot_module/src/scene.cpp @@ -348,7 +348,7 @@ bool BlindSpotModule::checkObstacleInBlindSpot( lanelet::LaneletMapConstPtr lanelet_map_ptr, lanelet::routing::RoutingGraphPtr routing_graph_ptr, const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr, - const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) const + const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) { /* get detection area */ if (turn_direction_ == TurnDirection::INVALID) { @@ -409,6 +409,8 @@ bool BlindSpotModule::checkObstacleInBlindSpot( exist_in_right_conflict_area || exist_in_opposite_conflict_area; if (exist_in_detection_area && exist_in_conflict_area) { debug_data_.conflicting_targets.objects.push_back(object); + setObjectsOfInterestData( + object.kinematics.initial_pose_with_covariance.pose, object.shape, ColorName::RED); return true; } } diff --git a/planning/behavior_velocity_blind_spot_module/src/scene.hpp b/planning/behavior_velocity_blind_spot_module/src/scene.hpp index 6f8450568939c..2ca2fe7950989 100644 --- a/planning/behavior_velocity_blind_spot_module/src/scene.hpp +++ b/planning/behavior_velocity_blind_spot_module/src/scene.hpp @@ -113,7 +113,7 @@ class BlindSpotModule : public SceneModuleInterface lanelet::routing::RoutingGraphPtr routing_graph_ptr, const autoware_auto_planning_msgs::msg::PathWithLaneId & path, const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr objects_ptr, - const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose) const; + const int closest_idx, const geometry_msgs::msg::Pose & stop_line_pose); /** * @brief Create half lanelet diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp index 4f7e8b45d107f..4496df77134e2 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection_collision.cpp @@ -621,6 +621,9 @@ IntersectionModule::CollisionStatus IntersectionModule::detectCollision( continue; } const auto & unsafe_info = object_info->is_unsafe().value(); + setObjectsOfInterestData( + object_info->predicted_object().kinematics.initial_pose_with_covariance.pose, + object_info->predicted_object().shape, ColorName::RED); // ========================================================================================== // if ego is over the pass judge lines, then the visualization as "too_late_objects" or // "misjudge_objects" is more important than that for "unsafe" @@ -910,7 +913,7 @@ bool IntersectionModule::checkCollision( } } object_ttc_time_array.layout.dim.at(0).size++; - const auto & pos = object.kinematics.initial_pose_with_covariance.pose.position; + const auto & pos = object..position; const auto & shape = object.shape; object_ttc_time_array.data.insert( object_ttc_time_array.data.end(), From 685b5b68098cd0f19c1c9de04646949fb805b208 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 29 Jan 2024 17:17:26 +0900 Subject: [PATCH 07/17] fix(tracking_object_merger): fix bug and rework parameters (#6168) * chore(tracking_object_merger): use config Signed-off-by: kminoda * fix(tracking_object_merger): fix bug and use param file Signed-off-by: kminoda * Update perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml --------- Signed-off-by: kminoda Co-authored-by: Yoshi Ri --- .../config/decorative_tracker_merger.param.yaml | 2 +- .../launch/decorative_tracker_merger.launch.xml | 4 ---- 2 files changed, 1 insertion(+), 5 deletions(-) diff --git a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml index 4a108be657a27..92a7fca229818 100644 --- a/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml +++ b/perception/tracking_object_merger/config/decorative_tracker_merger.param.yaml @@ -23,4 +23,4 @@ # logging settings enable_logging: false - log_file_path: "/tmp/decorative_tracker_merger.log" + logging_file_path: "association_log.json" diff --git a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml b/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml index 5affbe474e8ae..52b0841f97e97 100644 --- a/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml +++ b/perception/tracking_object_merger/launch/decorative_tracker_merger.launch.xml @@ -5,8 +5,6 @@ - - @@ -15,7 +13,5 @@ - - From 2f761e1b0382036b76ba6eb584b28b1a66cf070c Mon Sep 17 00:00:00 2001 From: TaikiYamada4 <129915538+TaikiYamada4@users.noreply.github.com> Date: Mon, 29 Jan 2024 18:56:58 +0900 Subject: [PATCH 08/17] feat(imu_corrector): changed publication algorithm and content of /diagnostics in gyro_bias_estimator (#6139) * Let diagnostics be updated even if expections occur in timer_callback Signed-off-by: TaikiYamada4 * Fixed the summary message to be "Not updated" when the gyro bias is not updated. Fixed typo. Signed-off-by: TaikiYamada4 * Removed force_update() since updater_ originaly updates diagnostics automatically. Set the update peirod of diagnostics to be same to the timer_callback. Changed words of the diagnostics message a bit. Signed-off-by: TaikiYamada4 * style(pre-commit): autofix * Let the period of diagnostics publication independent to timer. Let update_diagnostics to be simple. Signed-off-by: TaikiYamada4 * style(pre-commit): autofix * Fixed typo Signed-off-by: TaikiYamada4 * style(pre-commit): autofix * Added setPeriod after force_update to reset the timer of updater_. Then, there will be no duplicates of diagnostics. Signed-off-by: TaikiYamada4 * style(pre-commit): autofix * Set diagnostics values to have the same precision Added gyro_bias_threshold_ to the diagnostics Signed-off-by: TaikiYamada4 * Updated README.md to match the paramters in gyro_bias_estimator Signed-off-by: TaikiYamada4 * style(pre-commit): autofix --------- Signed-off-by: TaikiYamada4 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- sensing/imu_corrector/README.md | 6 +- .../config/gyro_bias_estimator.param.yaml | 1 + .../imu_corrector/src/gyro_bias_estimator.cpp | 99 +++++++++++++------ .../imu_corrector/src/gyro_bias_estimator.hpp | 16 +++ 4 files changed, 89 insertions(+), 33 deletions(-) diff --git a/sensing/imu_corrector/README.md b/sensing/imu_corrector/README.md index 7af82c1129aff..2df12c94b7d3b 100644 --- a/sensing/imu_corrector/README.md +++ b/sensing/imu_corrector/README.md @@ -70,11 +70,11 @@ In the future, with careful implementation for pose errors, the IMU bias estimat ### Parameters +Note that this node also uses `angular_velocity_offset_x`, `angular_velocity_offset_y`, `angular_velocity_offset_z` parameters from `imu_corrector.param.yaml`. + | Name | Type | Description | | ------------------------------------- | ------ | ------------------------------------------------------------------------------------------- | -| `angular_velocity_offset_x` | double | roll rate offset in imu_link [rad/s] | -| `angular_velocity_offset_y` | double | pitch rate offset imu_link [rad/s] | -| `angular_velocity_offset_z` | double | yaw rate offset imu_link [rad/s] | | `gyro_bias_threshold` | double | threshold of the bias of the gyroscope [rad/s] | | `timer_callback_interval_sec` | double | seconds about the timer callback function [sec] | +| `diagnostics_updater_interval_sec` | double | period of the diagnostics updater [sec] | | `straight_motion_ang_vel_upper_limit` | double | upper limit of yaw angular velocity, beyond which motion is not considered straight [rad/s] | diff --git a/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml b/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml index e10329c920137..eac423f94fa78 100644 --- a/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml +++ b/sensing/imu_corrector/config/gyro_bias_estimator.param.yaml @@ -2,4 +2,5 @@ ros__parameters: gyro_bias_threshold: 0.0015 # [rad/s] timer_callback_interval_sec: 0.5 # [sec] + diagnostics_updater_interval_sec: 0.5 # [sec] straight_motion_ang_vel_upper_limit: 0.015 # [rad/s] diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.cpp b/sensing/imu_corrector/src/gyro_bias_estimator.cpp index 50e4a702ec949..e99667ed1c4a6 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.cpp +++ b/sensing/imu_corrector/src/gyro_bias_estimator.cpp @@ -30,6 +30,7 @@ GyroBiasEstimator::GyroBiasEstimator() angular_velocity_offset_y_(declare_parameter("angular_velocity_offset_y")), angular_velocity_offset_z_(declare_parameter("angular_velocity_offset_z")), timer_callback_interval_sec_(declare_parameter("timer_callback_interval_sec")), + diagnostics_updater_interval_sec_(declare_parameter("diagnostics_updater_interval_sec")), straight_motion_ang_vel_upper_limit_( declare_parameter("straight_motion_ang_vel_upper_limit")), updater_(this), @@ -37,6 +38,8 @@ GyroBiasEstimator::GyroBiasEstimator() { updater_.setHardwareID(get_name()); updater_.add("gyro_bias_validator", this, &GyroBiasEstimator::update_diagnostics); + // diagnostic_updater is designed to be updated at the same rate as the timer + updater_.setPeriod(diagnostics_updater_interval_sec_); gyro_bias_estimation_module_ = std::make_unique(); @@ -57,6 +60,18 @@ GyroBiasEstimator::GyroBiasEstimator() this->get_node_timers_interface()->add_timer(timer_, nullptr); transform_listener_ = std::make_shared(this); + + // initialize diagnostics_info_ + { + diagnostics_info_.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + diagnostics_info_.summary_message = "Not initialized"; + diagnostics_info_.gyro_bias_x_for_imu_corrector = std::nan(""); + diagnostics_info_.gyro_bias_y_for_imu_corrector = std::nan(""); + diagnostics_info_.gyro_bias_z_for_imu_corrector = std::nan(""); + diagnostics_info_.estimated_gyro_bias_x = std::nan(""); + diagnostics_info_.estimated_gyro_bias_y = std::nan(""); + diagnostics_info_.estimated_gyro_bias_z = std::nan(""); + } } void GyroBiasEstimator::callback_imu(const Imu::ConstSharedPtr imu_msg_ptr) @@ -99,6 +114,7 @@ void GyroBiasEstimator::callback_odom(const Odometry::ConstSharedPtr odom_msg_pt void GyroBiasEstimator::timer_callback() { if (pose_buf_.empty()) { + diagnostics_info_.summary_message = "Skipped update (pose_buf is empty)"; return; } @@ -112,6 +128,7 @@ void GyroBiasEstimator::timer_callback() const rclcpp::Time t0_rclcpp_time = rclcpp::Time(pose_buf.front().header.stamp); const rclcpp::Time t1_rclcpp_time = rclcpp::Time(pose_buf.back().header.stamp); if (t1_rclcpp_time <= t0_rclcpp_time) { + diagnostics_info_.summary_message = "Skipped update (pose_buf is not in chronological order)"; return; } @@ -127,6 +144,7 @@ void GyroBiasEstimator::timer_callback() // Check gyro data size // Data size must be greater than or equal to 2 since the time difference will be taken later if (gyro_filtered.size() <= 1) { + diagnostics_info_.summary_message = "Skipped update (gyro_filtered size is less than 2)"; return; } @@ -140,6 +158,8 @@ void GyroBiasEstimator::timer_callback() const double yaw_vel = yaw_diff / time_diff; const bool is_straight = (yaw_vel < straight_motion_ang_vel_upper_limit_); if (!is_straight) { + diagnostics_info_.summary_message = + "Skipped update (yaw angular velocity is greater than straight_motion_ang_vel_upper_limit)"; return; } @@ -151,12 +171,45 @@ void GyroBiasEstimator::timer_callback() if (!tf_base2imu_ptr) { RCLCPP_ERROR( this->get_logger(), "Please publish TF %s to %s", imu_frame_.c_str(), output_frame_.c_str()); + + diagnostics_info_.summary_message = "Skipped update (tf between base and imu is not available)"; return; } + gyro_bias_ = transform_vector3(gyro_bias_estimation_module_->get_bias_base_link(), *tf_base2imu_ptr); + validate_gyro_bias(); updater_.force_update(); + updater_.setPeriod(diagnostics_updater_interval_sec_); // to reset timer inside the updater +} + +void GyroBiasEstimator::validate_gyro_bias() +{ + // Calculate diagnostics key-values + diagnostics_info_.gyro_bias_x_for_imu_corrector = gyro_bias_.value().x; + diagnostics_info_.gyro_bias_y_for_imu_corrector = gyro_bias_.value().y; + diagnostics_info_.gyro_bias_z_for_imu_corrector = gyro_bias_.value().z; + diagnostics_info_.estimated_gyro_bias_x = gyro_bias_.value().x - angular_velocity_offset_x_; + diagnostics_info_.estimated_gyro_bias_y = gyro_bias_.value().y - angular_velocity_offset_y_; + diagnostics_info_.estimated_gyro_bias_z = gyro_bias_.value().z - angular_velocity_offset_z_; + + // Validation + const bool is_bias_small_enough = + std::abs(diagnostics_info_.estimated_gyro_bias_x) < gyro_bias_threshold_ && + std::abs(diagnostics_info_.estimated_gyro_bias_y) < gyro_bias_threshold_ && + std::abs(diagnostics_info_.estimated_gyro_bias_z) < gyro_bias_threshold_; + + // Update diagnostics + if (is_bias_small_enough) { + diagnostics_info_.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + diagnostics_info_.summary_message = "Successfully updated"; + } else { + diagnostics_info_.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + diagnostics_info_.summary_message = + "Gyro bias may be incorrect. Please calibrate IMU and reflect the result in imu_corrector. " + "You may also use the output of gyro_bias_estimator."; + } } geometry_msgs::msg::Vector3 GyroBiasEstimator::transform_vector3( @@ -172,36 +225,22 @@ geometry_msgs::msg::Vector3 GyroBiasEstimator::transform_vector3( void GyroBiasEstimator::update_diagnostics(diagnostic_updater::DiagnosticStatusWrapper & stat) { - if (gyro_bias_ == std::nullopt) { - stat.add("gyro_bias", "Bias estimation is not yet ready because of insufficient data."); - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Not initialized"); - } else { - stat.add("gyro_bias_x_for_imu_corrector", gyro_bias_.value().x); - stat.add("gyro_bias_y_for_imu_corrector", gyro_bias_.value().y); - stat.add("gyro_bias_z_for_imu_corrector", gyro_bias_.value().z); - - stat.add("estimated_gyro_bias_x", gyro_bias_.value().x - angular_velocity_offset_x_); - stat.add("estimated_gyro_bias_y", gyro_bias_.value().y - angular_velocity_offset_y_); - stat.add("estimated_gyro_bias_z", gyro_bias_.value().z - angular_velocity_offset_z_); - - // Validation - const bool is_bias_small_enough = - std::abs(gyro_bias_.value().x - angular_velocity_offset_x_) < gyro_bias_threshold_ && - std::abs(gyro_bias_.value().y - angular_velocity_offset_y_) < gyro_bias_threshold_ && - std::abs(gyro_bias_.value().z - angular_velocity_offset_z_) < gyro_bias_threshold_; - - // Update diagnostics - if (is_bias_small_enough) { - stat.add("gyro_bias", "OK"); - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "OK"); - } else { - stat.add( - "gyro_bias", - "Gyro bias may be incorrect. Please calibrate IMU and reflect the result in " - "imu_corrector. You may also use the output of gyro_bias_estimator."); - stat.summary(diagnostic_msgs::msg::DiagnosticStatus::WARN, "WARN"); - } - } + auto f = [](const double & value) { + std::stringstream ss; + ss << std::fixed << std::setprecision(8) << value; + return ss.str(); + }; + + stat.summary(diagnostics_info_.level, diagnostics_info_.summary_message); + stat.add("gyro_bias_x_for_imu_corrector", f(diagnostics_info_.gyro_bias_x_for_imu_corrector)); + stat.add("gyro_bias_y_for_imu_corrector", f(diagnostics_info_.gyro_bias_y_for_imu_corrector)); + stat.add("gyro_bias_z_for_imu_corrector", f(diagnostics_info_.gyro_bias_z_for_imu_corrector)); + + stat.add("estimated_gyro_bias_x", f(diagnostics_info_.estimated_gyro_bias_x)); + stat.add("estimated_gyro_bias_y", f(diagnostics_info_.estimated_gyro_bias_y)); + stat.add("estimated_gyro_bias_z", f(diagnostics_info_.estimated_gyro_bias_z)); + + stat.add("gyro_bias_threshold", f(gyro_bias_threshold_)); } } // namespace imu_corrector diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.hpp b/sensing/imu_corrector/src/gyro_bias_estimator.hpp index 821cba0b213ff..3592ff1f7d3b4 100644 --- a/sensing/imu_corrector/src/gyro_bias_estimator.hpp +++ b/sensing/imu_corrector/src/gyro_bias_estimator.hpp @@ -49,6 +49,7 @@ class GyroBiasEstimator : public rclcpp::Node void callback_imu(const Imu::ConstSharedPtr imu_msg_ptr); void callback_odom(const Odometry::ConstSharedPtr odom_msg_ptr); void timer_callback(); + void validate_gyro_bias(); static geometry_msgs::msg::Vector3 transform_vector3( const geometry_msgs::msg::Vector3 & vec, @@ -68,6 +69,7 @@ class GyroBiasEstimator : public rclcpp::Node const double angular_velocity_offset_y_; const double angular_velocity_offset_z_; const double timer_callback_interval_sec_; + const double diagnostics_updater_interval_sec_; const double straight_motion_ang_vel_upper_limit_; diagnostic_updater::Updater updater_; @@ -80,6 +82,20 @@ class GyroBiasEstimator : public rclcpp::Node std::vector gyro_all_; std::vector pose_buf_; + + struct DiagnosticsInfo + { + unsigned char level; + std::string summary_message; + double gyro_bias_x_for_imu_corrector; + double gyro_bias_y_for_imu_corrector; + double gyro_bias_z_for_imu_corrector; + double estimated_gyro_bias_x; + double estimated_gyro_bias_y; + double estimated_gyro_bias_z; + }; + + DiagnosticsInfo diagnostics_info_; }; } // namespace imu_corrector From e67ab70f27eaae9f3a0b54b73610737929003c67 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez <33620+esteve@users.noreply.github.com> Date: Mon, 29 Jan 2024 11:41:19 +0100 Subject: [PATCH 09/17] build(yabloc_pose_initializer): fix dependencies (#6190) Signed-off-by: Esteve Fernandez --- localization/yabloc/yabloc_pose_initializer/CMakeLists.txt | 4 ++++ localization/yabloc/yabloc_pose_initializer/package.xml | 2 ++ 2 files changed, 6 insertions(+) diff --git a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt index 164f280becae8..91b272b413c4c 100644 --- a/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt +++ b/localization/yabloc/yabloc_pose_initializer/CMakeLists.txt @@ -14,6 +14,9 @@ find_package(PCL REQUIRED COMPONENTS common kdtree) # Sophus find_package(Sophus REQUIRED) +# OpenCV +find_package(OpenCV REQUIRED) + # =================================================== # Executable # Camera @@ -28,6 +31,7 @@ ament_auto_add_executable(${TARGET} target_include_directories(${TARGET} PUBLIC include) target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus) +ament_target_dependencies(${TARGET} OpenCV) # =================================================== ament_auto_package(INSTALL_TO_SHARE config launch) diff --git a/localization/yabloc/yabloc_pose_initializer/package.xml b/localization/yabloc/yabloc_pose_initializer/package.xml index e9921db50093e..afd0d4aa86bcf 100644 --- a/localization/yabloc/yabloc_pose_initializer/package.xml +++ b/localization/yabloc/yabloc_pose_initializer/package.xml @@ -17,8 +17,10 @@ rosidl_default_generators autoware_auto_mapping_msgs + cv_bridge geometry_msgs lanelet2_extension + libopencv-dev rclcpp sensor_msgs tier4_localization_msgs From 59e869666a985e1bd63f1389a0176c2909c7aa6e Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 29 Jan 2024 22:15:57 +0900 Subject: [PATCH 10/17] fix(intersection): judge pass judge at intersection without tl with occlusion detection (#6207) Signed-off-by: Mamoru Sobue --- .../src/decision_result.cpp | 14 ++++---- .../src/scene_intersection.cpp | 33 ++++++++++++++++--- 2 files changed, 36 insertions(+), 11 deletions(-) diff --git a/planning/behavior_velocity_intersection_module/src/decision_result.cpp b/planning/behavior_velocity_intersection_module/src/decision_result.cpp index 93a7c2a29d2f7..aefd59a72f9b4 100644 --- a/planning/behavior_velocity_intersection_module/src/decision_result.cpp +++ b/planning/behavior_velocity_intersection_module/src/decision_result.cpp @@ -19,11 +19,11 @@ namespace behavior_velocity_planner::intersection std::string formatDecisionResult(const DecisionResult & decision_result) { if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "InternalError because " + state.error; } if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "OverPassJudge:\nsafety_report:" + state.safety_report + "\nevasive_report:\n" + state.evasive_report; } @@ -31,11 +31,11 @@ std::string formatDecisionResult(const DecisionResult & decision_result) return "StuckStop"; } if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "YieldStuckStop:\nsafety_report:" + state.safety_report; } if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "NonOccludedCollisionStop\nsafety_report:" + state.safety_report; } if (std::holds_alternative(decision_result)) { @@ -45,18 +45,18 @@ std::string formatDecisionResult(const DecisionResult & decision_result) return "PeekingTowardOcclusion"; } if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "OccludedCollisionStop\nsafety_report:" + state.safety_report; } if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "OccludedAbsenceTrafficLight\nsafety_report:" + state.safety_report; } if (std::holds_alternative(decision_result)) { return "Safe"; } if (std::holds_alternative(decision_result)) { - const auto state = std::get(decision_result); + const auto & state = std::get(decision_result); return "FullyPrioritized\nsafety_report:" + state.safety_report; } return ""; diff --git a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp index 75e2da034780a..3f6136673a44a 100644 --- a/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp +++ b/planning/behavior_velocity_intersection_module/src/scene_intersection.cpp @@ -354,8 +354,18 @@ intersection::DecisionResult IntersectionModule::modifyPathVelocityDetail( : false; if (!has_traffic_light_) { if (fromEgoDist(occlusion_wo_tl_pass_judge_line_idx) < 0) { - return intersection::InternalError{ - "already passed maximum peeking line in the absence of traffic light"}; + if (has_collision) { + const auto closest_idx = intersection_stoplines.closest_idx; + const std::string evasive_diag = generateEgoRiskEvasiveDiagnosis( + *path, closest_idx, time_distance_array, too_late_detect_objects, misjudge_objects); + return intersection::OverPassJudge{ + "already passed maximum peeking line in the absence of traffic light.\n" + + safety_report, + evasive_diag}; + } + return intersection::OverPassJudge{ + "already passed maximum peeking line in the absence of traffic light safely", + "no evasive action required"}; } return intersection::OccludedAbsenceTrafficLight{ is_occlusion_cleared_with_margin, @@ -364,7 +374,7 @@ intersection::DecisionResult IntersectionModule::modifyPathVelocityDetail( closest_idx, first_attention_stopline_idx, occlusion_wo_tl_pass_judge_line_idx, - safety_report}; + safety_diag}; } // ========================================================================================== @@ -1251,7 +1261,22 @@ IntersectionModule::PassJudgeStatus IntersectionModule::isOverPassJudgeLinesStat return first_pass_judge_line_idx; }(); - const bool was_safe = std::holds_alternative(prev_decision_result_); + // ========================================================================================== + // at intersection without traffic light, this module ignores occlusion even if occlusion is + // detected for real, so if collision is not detected in that context, that should be interpreted + // as "was_safe" + // ========================================================================================== + const bool was_safe = [&]() { + if (std::holds_alternative(prev_decision_result_)) { + return true; + } + if (std::holds_alternative(prev_decision_result_)) { + const auto & state = + std::get(prev_decision_result_); + return !state.collision_detected; + } + return false; + }(); const bool is_over_1st_pass_judge_line = util::isOverTargetIndex(path, closest_idx, current_pose, pass_judge_line_idx); From 4f7fded30f48d3017dcf8da291fdbd429bdb130a Mon Sep 17 00:00:00 2001 From: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com> Date: Mon, 29 Jan 2024 22:25:57 +0900 Subject: [PATCH 11/17] chore(simple_object_merger): fix README (#6202) * chore(simple_object_merger): fix README Signed-off-by: scepter914 * style(pre-commit): autofix --------- Signed-off-by: scepter914 Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- perception/simple_object_merger/README.md | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/perception/simple_object_merger/README.md b/perception/simple_object_merger/README.md index 9bcd03e8abfa1..4c037963361a1 100644 --- a/perception/simple_object_merger/README.md +++ b/perception/simple_object_merger/README.md @@ -1,23 +1,21 @@ # simple_object_merger -This package can merge multiple topics of [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) without low calculation cost. +This package can merge multiple topics of [autoware_auto_perception_msgs/msg/DetectedObject](https://gitlab.com/autowarefoundation/autoware.auto/autoware_auto_msgs/-/blob/master/autoware_auto_perception_msgs/msg/DetectedObject.idl) with low calculation cost. -## Algorithm +## Design ### Background [Object_merger](https://github.com/autowarefoundation/autoware.universe/tree/main/perception/object_merger) is mainly used for merge process with DetectedObjects. There are 2 characteristics in `Object_merger`. First, `object_merger` solve data association algorithm like Hungarian algorithm for matching problem, but it needs computational cost. Second, `object_merger` can handle only 2 DetectedObjects topics and cannot handle more than 2 topics in one node. To merge 6 DetectedObjects topics, 6 `object_merger` nodes need to stand for now. -So `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. +Therefore, `simple_object_merger` aim to merge multiple DetectedObjects with low calculation cost. The package do not use data association algorithm to reduce the computational cost, and it can handle more than 2 topics in one node to prevent launching a large number of nodes. ### Use case -Use case is as below. - - Multiple radar detection -`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics with `simple_object_merger`, the pipeline for faraway detection with radar is simpler. +`Simple_object_merger` can be used for multiple radar detection. By combining them into one topic from multiple radar topics, the pipeline for faraway detection with radar can be simpler. ### Limitation From ba21eecc260051a0d7c7e8d0108f833d75d58192 Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Mon, 29 Jan 2024 17:49:49 +0300 Subject: [PATCH 12/17] feat: new rviz ui - speed/gear/turnsignal/steering (#5957) Signed-off-by: Khalil Selyan --- .../awf_2d_overlay_vehicle/CMakeLists.txt | 140 +++++ .../awf_2d_overlay_vehicle/LICENSE | 12 + .../awf_2d_overlay_vehicle/README.md | 54 ++ .../assets/font/Quicksand/LICENSE | 93 +++ .../font/Quicksand/static/Quicksand-Bold.ttf | Bin 0 -> 78596 bytes .../font/Quicksand/static/Quicksand-Light.ttf | Bin 0 -> 78660 bytes .../Quicksand/static/Quicksand-Medium.ttf | Bin 0 -> 78948 bytes .../Quicksand/static/Quicksand-Regular.ttf | Bin 0 -> 78936 bytes .../Quicksand/static/Quicksand-SemiBold.ttf | Bin 0 -> 78820 bytes .../assets/images/arrow.png | Bin 0 -> 260 bytes .../assets/images/select_add.png | Bin 0 -> 18359 bytes .../assets/images/select_topic_name.png | Bin 0 -> 422591 bytes .../assets/images/select_vehicle_plugin.png | Bin 0 -> 72553 bytes .../assets/images/traffic.png | Bin 0 -> 622 bytes .../assets/images/wheel.png | Bin 0 -> 1632 bytes .../awf_2d_overlay_vehicle-extras.cmake | 31 + .../include/gear_display.hpp | 49 ++ .../include/overlay_text_display.hpp | 157 +++++ .../include/overlay_utils.hpp | 141 +++++ .../include/signal_display.hpp | 124 ++++ .../include/speed_display.hpp | 49 ++ .../include/speed_limit_display.hpp | 49 ++ .../include/steering_wheel_display.hpp | 54 ++ .../include/traffic_display.hpp | 62 ++ .../include/turn_signals_display.hpp | 63 ++ .../awf_2d_overlay_vehicle/package.xml | 31 + .../plugins_description.xml | 5 + .../src/gear_display.cpp | 98 +++ .../src/overlay_text_display.cpp | 556 ++++++++++++++++++ .../src/overlay_utils.cpp | 267 +++++++++ .../src/signal_display.cpp | 501 ++++++++++++++++ .../src/speed_display.cpp | 109 ++++ .../src/speed_limit_display.cpp | 105 ++++ .../src/steering_wheel_display.cpp | 123 ++++ .../src/traffic_display.cpp | 113 ++++ .../src/turn_signals_display.cpp | 122 ++++ .../rviz_2d_overlay_msgs/CHANGELOG.rst | 24 + .../rviz_2d_overlay_msgs/CMakeLists.txt | 19 + .../rviz_2d_overlay_msgs/msg/OverlayText.msg | 31 + .../rviz_2d_overlay_msgs/package.xml | 24 + 40 files changed, 3206 insertions(+) create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Light.ttf create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Medium.ttf create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Regular.ttf create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-SemiBold.ttf create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/arrow.png create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_add.png create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_vehicle_plugin.png create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/traffic.png create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/wheel.png create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/awf_2d_overlay_vehicle-extras.cmake create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/plugins_description.xml create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp create mode 100644 common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CHANGELOG.rst create mode 100644 common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt create mode 100644 common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/msg/OverlayText.msg create mode 100644 common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt new file mode 100644 index 0000000000000..da67a6f63aeae --- /dev/null +++ b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt @@ -0,0 +1,140 @@ +cmake_minimum_required(VERSION 3.8) +project(awf_2d_overlay_vehicle) + +# find dependencies +find_package(ament_cmake_auto REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(autoware_auto_vehicle_msgs REQUIRED) +find_package(tier4_planning_msgs REQUIRED) +find_package(autoware_perception_msgs REQUIRED) +ament_auto_find_build_dependencies() + +find_package(rviz_2d_overlay_msgs REQUIRED) + +find_package(rviz_common REQUIRED) +find_package(rviz_rendering REQUIRED) +find_package(rviz_ogre_vendor REQUIRED) +find_package(std_msgs REQUIRED) + +set( + headers_to_moc + include/overlay_text_display.hpp + include/signal_display.hpp + +) + +set( + headers_to_not_moc + include/steering_wheel_display.hpp + include/gear_display.hpp + include/speed_display.hpp + include/turn_signals_display.hpp + include/traffic_display.hpp + include/speed_limit_display.hpp +) + + + +foreach(header "${headers_to_moc}") + qt5_wrap_cpp(display_moc_files "${header}") +endforeach() + +set( + display_source_files + src/overlay_text_display.cpp + src/overlay_utils.cpp + src/signal_display.cpp + src/steering_wheel_display.cpp + src/gear_display.cpp + src/speed_display.cpp + src/turn_signals_display.cpp + src/traffic_display.cpp + src/speed_limit_display.cpp + +) + +add_library( + ${PROJECT_NAME} SHARED + ${display_moc_files} + ${headers_to_not_moc} + ${display_source_files} +) + +set_property(TARGET ${PROJECT_NAME} PROPERTY CXX_STANDARD 17) +target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra -Wpedantic) + +target_include_directories( + ${PROJECT_NAME} PUBLIC + $ + $ + ${Qt5Widgets_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} +) + +target_link_libraries( + ${PROJECT_NAME} PUBLIC + rviz_ogre_vendor::OgreMain + rviz_ogre_vendor::OgreOverlay +) + + +target_compile_definitions(${PROJECT_NAME} PRIVATE "${PROJECT_NAME}_BUILDING_LIBRARY") + +# prevent pluginlib from using boost +target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS") + +pluginlib_export_plugin_description_file(rviz_common plugins_description.xml) + +ament_target_dependencies( + ${PROJECT_NAME} + PUBLIC + rviz_common + rviz_rendering + rviz_2d_overlay_msgs + autoware_auto_vehicle_msgs + tier4_planning_msgs + autoware_perception_msgs +) + +ament_export_include_directories(include) +ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET) +ament_export_dependencies( + rviz_common + rviz_ogre_vendor +) + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +install( + TARGETS ${PROJECT_NAME} + EXPORT ${PROJECT_NAME} + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) + +install( + DIRECTORY include/ + DESTINATION include +) + +install( + TARGETS + DESTINATION lib/${PROJECT_NAME} +) + +# Copy the assets directory to the installation directory +install( + DIRECTORY assets/ + DESTINATION share/${PROJECT_NAME}/assets +) + +add_definitions(-DQT_NO_KEYWORDS) + +ament_package( + CONFIG_EXTRAS "awf_2d_overlay_vehicle-extras.cmake" +) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE new file mode 100644 index 0000000000000..a2fe2d3d1c7ed --- /dev/null +++ b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE @@ -0,0 +1,12 @@ +Copyright (c) 2022, Team Spatzenhirn +Copyright (c) 2014, JSK Lab + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md new file mode 100644 index 0000000000000..6728f26878e10 --- /dev/null +++ b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md @@ -0,0 +1,54 @@ +# awf_2d_overlay_vehicle + +Plugin for displaying 2D overlays over the RViz2 3D scene. + +Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) +package, under the 3-Clause BSD license. + +## Purpose + +This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears. + +## Inputs / Outputs + +### Input + +| Name | Type | Description | +| ---------------------------------------- | ------------------------------------------------------- | ---------------------------------- | +| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle twist | +| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal | +| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard | +| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering | +| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear | + +## Parameter + +### Core Parameters + +#### SignalDisplay + +| Name | Type | Default Value | Description | +| ------------------------ | ------ | -------------------- | --------------------------------- | +| `property_width_` | int | 128 | Width of the plotter window [px] | +| `property_height_` | int | 128 | Height of the plotter window [px] | +| `property_left_` | int | 128 | Left of the plotter window [px] | +| `property_top_` | int | 128 | Top of the plotter window [px] | +| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color | + +## Assumptions / Known limits + +TBD. + +## Usage + +1. Start rviz and select Add under the Displays panel. + + ![select_add](./assets/images/select_add.png) + +2. Select any one of the tier4_vehicle_rviz_plugin and press OK. + + ![select_vehicle_plugin](./assets/images/select_vehicle_plugin.png) + +3. Enter the name of the topic where you want to view the status. + + ![select_topic_name](./assets/images/select_topic_name.png) diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE new file mode 100644 index 0000000000000..cc04d393573f0 --- /dev/null +++ b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE @@ -0,0 +1,93 @@ +Copyright 2011 The Quicksand Project Authors (https://github.com/andrew-paglinawan/QuicksandFamily), with Reserved Font Name “Quicksand”. + +This Font Software is licensed under the SIL Open Font License, Version 1.1. +This license is copied below, and is also available with a FAQ at: +http://scripts.sil.org/OFL + + +----------------------------------------------------------- +SIL OPEN FONT LICENSE Version 1.1 - 26 February 2007 +----------------------------------------------------------- + +PREAMBLE +The goals of the Open Font License (OFL) are to stimulate worldwide +development of collaborative font projects, to support the font creation +efforts of academic and linguistic communities, and to provide a free and +open framework in which fonts may be shared and improved in partnership +with others. + +The OFL allows the licensed fonts to be used, studied, modified and +redistributed freely as long as they are not sold by themselves. The +fonts, including any derivative works, can be bundled, embedded, +redistributed and/or sold with any software provided that any reserved +names are not used by derivative works. The fonts and derivatives, +however, cannot be released under any other type of license. The +requirement for fonts to remain under this license does not apply +to any document created using the fonts or their derivatives. + +DEFINITIONS +"Font Software" refers to the set of files released by the Copyright +Holder(s) under this license and clearly marked as such. This may +include source files, build scripts and documentation. + +"Reserved Font Name" refers to any names specified as such after the +copyright statement(s). + +"Original Version" refers to the collection of Font Software components as +distributed by the Copyright Holder(s). + +"Modified Version" refers to any derivative made by adding to, deleting, +or substituting -- in part or in whole -- any of the components of the +Original Version, by changing formats or by porting the Font Software to a +new environment. + +"Author" refers to any designer, engineer, programmer, technical +writer or other person who contributed to the Font Software. + +PERMISSION & CONDITIONS +Permission is hereby granted, free of charge, to any person obtaining +a copy of the Font Software, to use, study, copy, merge, embed, modify, +redistribute, and sell modified and unmodified copies of the Font +Software, subject to the following conditions: + +1) Neither the Font Software nor any of its individual components, +in Original or Modified Versions, may be sold by itself. + +2) Original or Modified Versions of the Font Software may be bundled, +redistributed and/or sold with any software, provided that each copy +contains the above copyright notice and this license. These can be +included either as stand-alone text files, human-readable headers or +in the appropriate machine-readable metadata fields within text or +binary files as long as those fields can be easily viewed by the user. + +3) No Modified Version of the Font Software may use the Reserved Font +Name(s) unless explicit written permission is granted by the corresponding +Copyright Holder. This restriction only applies to the primary font name as +presented to the users. + +4) The name(s) of the Copyright Holder(s) or the Author(s) of the Font +Software shall not be used to promote, endorse or advertise any +Modified Version, except to acknowledge the contribution(s) of the +Copyright Holder(s) and the Author(s) or with their explicit written +permission. + +5) The Font Software, modified or unmodified, in part or in whole, +must be distributed entirely under this license, and must not be +distributed under any other license. The requirement for fonts to +remain under this license does not apply to any document created +using the Font Software. + +TERMINATION +This license becomes null and void if any of the above conditions are +not met. + +DISCLAIMER +THE FONT SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, +EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF +MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT +OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL THE +COPYRIGHT HOLDER BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, +INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL +DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING +FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM +OTHER DEALINGS IN THE FONT SOFTWARE. diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf new file mode 100644 index 0000000000000000000000000000000000000000..07d5127c04b17a9a62121d12aeb00b701e920500 GIT binary patch literal 78596 zcmc${31C!3)<0TRx6_?{Upq;svqJ(Q>Fn%TSp_6)f+7I|34{bgSVd$I6_-KB!DSQ` z71wb<9Y+yyM+Z@HLq)~~5D^h~L`6xz-#K^b4xr=rfA9OhbgJ&Tr%s(Zb?Vf9Z(SjU z5Rvd~LJX;`tFL~!>TMxZ7O+Q#j2Yc9?bq<*LJaFKMCD^c8pcM&bk?!dBU^-6bxeqd!ke2KXC}?F6(js=gqJk~5jZB`LEIyKk<~n}bIDbkF9QFJ 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