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feat!: replace autoware_auto_msgs with autoware_msgs for localization…
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… modules

Signed-off-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: Cynthia Liu <[email protected]>
Co-authored-by: NorahXiong <[email protected]>
Co-authored-by: beginningfan <[email protected]>
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4 people authored and xmfcx committed Jun 4, 2024
1 parent 09b6899 commit 64758d0
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Showing 24 changed files with 54 additions and 54 deletions.
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Expand Up @@ -15,7 +15,7 @@ The positions and orientations of the AR-Tags are assumed to be written in the L

| Name | Type | Description |
| :--------------------- | :---------------------------------------------- | :------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ |
| `~/input/lanelet2_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | Data of lanelet2 |
| `~/input/lanelet2_map` | `autoware_map_msgs::msg::LaneletMapBin` | Data of lanelet2 |
| `~/input/image` | `sensor_msgs::msg::Image` | Camera Image |
| `~/input/camera_info` | `sensor_msgs::msg::CameraInfo` | Camera Info |
| `~/input/ekf_pose` | `geometry_msgs::msg::PoseWithCovarianceStamped` | EKF Pose without IMU correction. It is used to validate detected AR tags by filtering out False Positives. Only if the EKF Pose and the AR tag-detected Pose are within a certain temporal and spatial range, the AR tag-detected Pose is considered valid and published. |
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Expand Up @@ -111,7 +111,7 @@ ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
Subscribers
*/
using std::placeholders::_1;
map_bin_sub_ = this->create_subscription<HADMapBin>(
map_bin_sub_ = this->create_subscription<LaneletMapBin>(
"~/input/lanelet2_map", rclcpp::QoS(10).durability(rclcpp::DurabilityPolicy::TransientLocal),
std::bind(&ArTagBasedLocalizer::map_bin_callback, this, _1));

Expand Down Expand Up @@ -140,7 +140,7 @@ ArTagBasedLocalizer::ArTagBasedLocalizer(const rclcpp::NodeOptions & options)
RCLCPP_INFO(this->get_logger(), "Setup of ar_tag_based_localizer node is successful!");
}

void ArTagBasedLocalizer::map_bin_callback(const HADMapBin::ConstSharedPtr & msg)
void ArTagBasedLocalizer::map_bin_callback(const LaneletMapBin::ConstSharedPtr & msg)
{
landmark_manager_.parse_landmarks(msg, "apriltag_16h5");
const MarkerArray marker_msg = landmark_manager_.get_landmarks_as_marker_array_msg();
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Expand Up @@ -70,7 +70,7 @@

class ArTagBasedLocalizer : public rclcpp::Node
{
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
using Image = sensor_msgs::msg::Image;
using CameraInfo = sensor_msgs::msg::CameraInfo;
using Pose = geometry_msgs::msg::Pose;
Expand All @@ -86,7 +86,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
explicit ArTagBasedLocalizer(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

private:
void map_bin_callback(const HADMapBin::ConstSharedPtr & msg);
void map_bin_callback(const LaneletMapBin::ConstSharedPtr & msg);
void image_callback(const Image::ConstSharedPtr & msg);
void cam_info_callback(const CameraInfo::ConstSharedPtr & msg);
void ekf_pose_callback(const PoseWithCovarianceStamped::ConstSharedPtr & msg);
Expand All @@ -106,7 +106,7 @@ class ArTagBasedLocalizer : public rclcpp::Node
std::unique_ptr<tf2_ros::TransformListener> tf_listener_;

// Subscribers
rclcpp::Subscription<HADMapBin>::SharedPtr map_bin_sub_;
rclcpp::Subscription<LaneletMapBin>::SharedPtr map_bin_sub_;
rclcpp::Subscription<Image>::SharedPtr image_sub_;
rclcpp::Subscription<CameraInfo>::SharedPtr cam_info_sub_;
rclcpp::Subscription<PoseWithCovarianceStamped>::SharedPtr ekf_pose_sub_;
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Expand Up @@ -19,7 +19,7 @@

#include <rclcpp/rclcpp.hpp>

#include "autoware_auto_mapping_msgs/msg/had_map_bin.hpp"
#include "autoware_map_msgs/msg/lanelet_map_bin.hpp"
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
Expand All @@ -41,7 +41,7 @@ class LandmarkManager
{
public:
void parse_landmarks(
const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr & msg,
const std::string & target_subtype);

[[nodiscard]] std::vector<landmark_manager::Landmark> get_landmarks() const;
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Expand Up @@ -18,7 +18,7 @@

<build_depend>eigen</build_depend>

<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_map_msgs</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
<depend>localization_util</depend>
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Expand Up @@ -28,7 +28,7 @@ namespace landmark_manager
{

void LandmarkManager::parse_landmarks(
const autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr & msg,
const autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr & msg,
const std::string & target_subtype)
{
std::vector<lanelet::Polygon3d> landmarks =
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2 changes: 1 addition & 1 deletion localization/pose_estimator_arbiter/README.md
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Expand Up @@ -93,7 +93,7 @@ For switching rule:

| Name | Type | Description |
| ----------------------------- | ------------------------------------------------------------ | --------------------------------- |
| `/input/vector_map` | autoware_auto_mapping_msgs::msg::HADMapBin | vector map |
| `/input/vector_map` | autoware_map_msgs::msg::LaneletMapBin | vector map |
| `/input/pose_with_covariance` | geometry_msgs::msg::PoseWithCovarianceStamped | localization final output |
| `/input/initialization_state` | autoware_adapi_v1_msgs::msg::LocalizationInitializationState | localization initialization state |

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Expand Up @@ -18,7 +18,7 @@
#include <rclcpp/logger.hpp>
#include <rclcpp/node.hpp>

#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <geometry_msgs/msg/point.hpp>
#include <visualization_msgs/msg/marker_array.hpp>

Expand All @@ -29,7 +29,7 @@ namespace pose_estimator_arbiter::rule_helper
{
class PoseEstimatorArea
{
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
using Marker = visualization_msgs::msg::Marker;
using MarkerArray = visualization_msgs::msg::MarkerArray;

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Expand Up @@ -27,7 +27,7 @@ VectorMapBasedRule::VectorMapBasedRule(

// Register callback
shared_data_->vector_map.register_callback(
[this](autoware_auto_mapping_msgs::msg::HADMapBin::ConstSharedPtr msg) -> void {
[this](autoware_map_msgs::msg::LaneletMapBin::ConstSharedPtr msg) -> void {
pose_estimator_area_->init(msg);
});

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Expand Up @@ -18,7 +18,7 @@

#include <lanelet2_extension/utility/message_conversion.hpp>

#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

#include <boost/geometry/geometry.hpp>

Expand Down Expand Up @@ -59,7 +59,7 @@ TEST_F(MockNode, poseEstimatorArea)
lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
lanelet_map->add(create_polygon3d());

using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
using Point = geometry_msgs::msg::Point;
HADMapBin msg;
lanelet::utils::conversion::toBinMsg(lanelet_map, &msg);
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Expand Up @@ -16,7 +16,7 @@

#include <lanelet2_extension/utility/message_conversion.hpp>

#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>

#include <gtest/gtest.h>
#include <lanelet2_core/LaneletMap.h>
Expand Down Expand Up @@ -71,7 +71,7 @@ TEST_F(MockNode, vectorMapBasedRule)
lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
lanelet_map->add(create_polygon3d());

using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
HADMapBin msg;
lanelet::utils::conversion::toBinMsg(lanelet_map, &msg);

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2 changes: 1 addition & 1 deletion localization/pose_estimator_arbiter/package.xml
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Expand Up @@ -12,7 +12,7 @@
<build_depend>autoware_cmake</build_depend>

<depend>autoware_adapi_v1_msgs</depend>
<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_map_msgs</depend>
<depend>diagnostic_msgs</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_extension</depend>
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@ class PoseEstimatorArbiter : public rclcpp::Node
using Image = sensor_msgs::msg::Image;
using PointCloud2 = sensor_msgs::msg::PointCloud2;
using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
using InitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;
using DiagnosticArray = diagnostic_msgs::msg::DiagnosticArray;

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Expand Up @@ -16,7 +16,7 @@
#define POSE_ESTIMATOR_ARBITER__SHARED_DATA_HPP_

#include <autoware_adapi_v1_msgs/msg/localization_initialization_state.hpp>
#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
Expand Down Expand Up @@ -77,7 +77,7 @@ struct SharedData
using Image = sensor_msgs::msg::Image;
using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
using PointCloud2 = sensor_msgs::msg::PointCloud2;
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using HADMapBin = autoware_map_msgs::msg::LaneletMapBin;
using InitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState;

SharedData() {}
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14 changes: 7 additions & 7 deletions localization/yabloc/yabloc_common/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -15,10 +15,10 @@ It estimates the height and tilt of the ground from lanelet2.

#### Input

| Name | Type | Description |
| ------------------ | -------------------------------------------- | ------------------- |
| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
| `input/pose` | `geometry_msgs::msg::PoseStamped` | estimated self pose |
| Name | Type | Description |
| ------------------ | --------------------------------------- | ------------------- |
| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map |
| `input/pose` | `geometry_msgs::msg::PoseStamped` | estimated self pose |

#### Output

Expand All @@ -44,9 +44,9 @@ This node extracts the elements related to the road surface markings and yabloc

#### Input

| Name | Type | Description |
| ------------------ | -------------------------------------------- | ----------- |
| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
| Name | Type | Description |
| ------------------ | --------------------------------------- | ----------- |
| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map |

#### Output

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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
#include <signal_processing/lowpass_filter_1d.hpp>
#include <yabloc_common/ground_plane.hpp>

#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
Expand All @@ -44,7 +44,7 @@ class GroundServer : public rclcpp::Node
{
public:
using GroundPlane = common::GroundPlane;
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;

using Pose = geometry_msgs::msg::Pose;
using PoseStamped = geometry_msgs::msg::PoseStamped;
Expand All @@ -65,7 +65,7 @@ class GroundServer : public rclcpp::Node
const int K;

// Subscriber
rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
rclcpp::Subscription<PoseStamped>::SharedPtr sub_pose_stamped_;
rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_initial_pose_;
// Publisher
Expand All @@ -86,7 +86,7 @@ class GroundServer : public rclcpp::Node
std::vector<int> last_indices_;

// Callback
void on_map(const HADMapBin & msg);
void on_map(const LaneletMapBin & msg);
void on_initial_pose(const PoseCovStamped & msg);
void on_pose_stamped(const PoseStamped & msg);

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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@

#include <rclcpp/rclcpp.hpp>

#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
Expand All @@ -35,7 +35,7 @@ class Ll2Decomposer : public rclcpp::Node
{
public:
using Cloud2 = sensor_msgs::msg::PointCloud2;
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
using Marker = visualization_msgs::msg::Marker;
using MarkerArray = visualization_msgs::msg::MarkerArray;

Expand All @@ -47,12 +47,12 @@ class Ll2Decomposer : public rclcpp::Node
rclcpp::Publisher<Cloud2>::SharedPtr pub_bounding_box_;
rclcpp::Publisher<MarkerArray>::SharedPtr pub_marker_;

rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
std::set<std::string> road_marking_labels_;
std::set<std::string> sign_board_labels_;
std::set<std::string> bounding_box_labels_;

void on_map(const HADMapBin & msg);
void on_map(const LaneletMapBin & msg);

pcl::PointNormal to_point_normal(
const lanelet::ConstPoint3d & from, const lanelet::ConstPoint3d & to) const;
Expand Down
2 changes: 1 addition & 1 deletion localization/yabloc/yabloc_common/package.xml
Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@
<buildtool_depend>autoware_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<depend>autoware_auto_mapping_msgs</depend>
<depend>autoware_map_msgs</depend>
<depend>cv_bridge</depend>
<depend>geometry_msgs</depend>
<depend>lanelet2_core</depend>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@ GroundServer::GroundServer(const rclcpp::NodeOptions & options)
auto on_pose = std::bind(&GroundServer::on_pose_stamped, this, _1);
auto on_map = std::bind(&GroundServer::on_map, this, _1);

sub_map_ = create_subscription<HADMapBin>("~/input/vector_map", map_qos, on_map);
sub_map_ = create_subscription<LaneletMapBin>("~/input/vector_map", map_qos, on_map);
sub_pose_stamped_ = create_subscription<PoseStamped>("~/input/pose", 10, on_pose);

pub_ground_height_ = create_publisher<Float32>("~/output/height", 10);
Expand Down Expand Up @@ -100,7 +100,7 @@ void GroundServer::on_pose_stamped(const PoseStamped & msg)
}
}

void GroundServer::on_map(const HADMapBin & msg)
void GroundServer::on_map(const LaneletMapBin & msg)
{
lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
lanelet::utils::conversion::fromBinMsg(msg, lanelet_map);
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ Ll2Decomposer::Ll2Decomposer(const rclcpp::NodeOptions & options) : Node("ll2_to

// Subscriber
auto cb_map = std::bind(&Ll2Decomposer::on_map, this, _1);
sub_map_ = create_subscription<HADMapBin>("~/input/vector_map", map_qos, cb_map);
sub_map_ = create_subscription<LaneletMapBin>("~/input/vector_map", map_qos, cb_map);

auto load_lanelet2_labels =
[this](const std::string & param_name, std::set<std::string> & labels) -> void {
Expand Down Expand Up @@ -102,7 +102,7 @@ pcl::PointCloud<pcl::PointXYZL> Ll2Decomposer::load_bounding_boxes(
return cloud;
}

void Ll2Decomposer::on_map(const HADMapBin & msg)
void Ll2Decomposer::on_map(const LaneletMapBin & msg)
{
RCLCPP_INFO_STREAM(get_logger(), "subscribed binary vector map");
lanelet::LaneletMapPtr lanelet_map(new lanelet::LaneletMap);
Expand Down
10 changes: 5 additions & 5 deletions localization/yabloc/yabloc_pose_initializer/README.md
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Expand Up @@ -45,11 +45,11 @@ Converted model URL

#### Input

| Name | Type | Description |
| ------------------- | -------------------------------------------- | ------------------------ |
| `input/camera_info` | `sensor_msgs::msg::CameraInfo` | undistorted camera info |
| `input/image_raw` | `sensor_msgs::msg::Image` | undistorted camera image |
| `input/vector_map` | `autoware_auto_mapping_msgs::msg::HADMapBin` | vector map |
| Name | Type | Description |
| ------------------- | --------------------------------------- | ------------------------ |
| `input/camera_info` | `sensor_msgs::msg::CameraInfo` | undistorted camera info |
| `input/image_raw` | `sensor_msgs::msg::Image` | undistorted camera image |
| `input/vector_map` | `autoware_map_msgs::msg::LaneletMapBin` | vector map |

#### Output

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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
#include <opencv2/core.hpp>
#include <rclcpp/rclcpp.hpp>

#include <autoware_auto_mapping_msgs/msg/had_map_bin.hpp>
#include <autoware_map_msgs/msg/lanelet_map_bin.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
Expand All @@ -40,7 +40,7 @@ class CameraPoseInitializer : public rclcpp::Node
using PoseCovStamped = geometry_msgs::msg::PoseWithCovarianceStamped;
using PointCloud2 = sensor_msgs::msg::PointCloud2;
using Image = sensor_msgs::msg::Image;
using HADMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
using LaneletMapBin = autoware_map_msgs::msg::LaneletMapBin;
using RequestPoseAlignment = tier4_localization_msgs::srv::PoseWithCovarianceStamped;

CameraPoseInitializer();
Expand All @@ -52,7 +52,7 @@ class CameraPoseInitializer : public rclcpp::Node
std::unique_ptr<initializer::ProjectorModule> projector_module_{nullptr};

rclcpp::Subscription<PoseCovStamped>::SharedPtr sub_initialpose_;
rclcpp::Subscription<HADMapBin>::SharedPtr sub_map_;
rclcpp::Subscription<LaneletMapBin>::SharedPtr sub_map_;
rclcpp::Subscription<Image>::SharedPtr sub_image_;

rclcpp::Service<RequestPoseAlignment>::SharedPtr align_server_;
Expand All @@ -63,7 +63,7 @@ class CameraPoseInitializer : public rclcpp::Node

std::unique_ptr<SemanticSegmentation> semantic_segmentation_{nullptr};

void on_map(const HADMapBin & msg);
void on_map(const LaneletMapBin & msg);
void on_service(
const RequestPoseAlignment::Request::SharedPtr,
RequestPoseAlignment::Response::SharedPtr request);
Expand Down
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