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Merge branch 'main' into feat/remove_use_pointcloud_container
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@kminoda
kminoda authored Feb 7, 2024
2 parents 2f941ac + 02bc6d8 commit a188199
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Showing 188 changed files with 10,694 additions and 1,634 deletions.
45 changes: 24 additions & 21 deletions .github/CODEOWNERS
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4 changes: 2 additions & 2 deletions .github/workflows/build-and-test-differential.yaml
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Expand Up @@ -16,7 +16,7 @@ jobs:
build-and-test-differential:
needs: prevent-no-label-execution
if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
runs-on: ubuntu-latest
runs-on: [self-hosted, linux, X64]
container: ${{ matrix.container }}${{ matrix.container-suffix }}
strategy:
fail-fast: false
Expand Down Expand Up @@ -76,7 +76,7 @@ jobs:
run: df -h

clang-tidy-differential:
runs-on: ubuntu-latest
runs-on: [self-hosted, linux, X64]
container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
needs: build-and-test-differential
steps:
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10 changes: 5 additions & 5 deletions common/tensorrt_common/include/tensorrt_common/logger.hpp
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Expand Up @@ -493,7 +493,7 @@ namespace
//!
inline LogStreamConsumer LOG_VERBOSE(const Logger & logger)
{
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE) << "[TRT] ";
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE);
}

//!
Expand All @@ -505,7 +505,7 @@ inline LogStreamConsumer LOG_VERBOSE(const Logger & logger)
//!
inline LogStreamConsumer LOG_INFO(const Logger & logger)
{
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO) << "[TRT] ";
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO);
}

//!
Expand All @@ -517,7 +517,7 @@ inline LogStreamConsumer LOG_INFO(const Logger & logger)
//!
inline LogStreamConsumer LOG_WARN(const Logger & logger)
{
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING) << "[TRT] ";
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING);
}

//!
Expand All @@ -529,7 +529,7 @@ inline LogStreamConsumer LOG_WARN(const Logger & logger)
//!
inline LogStreamConsumer LOG_ERROR(const Logger & logger)
{
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR) << "[TRT] ";
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR);
}

//!
Expand All @@ -543,7 +543,7 @@ inline LogStreamConsumer LOG_ERROR(const Logger & logger)
//!
inline LogStreamConsumer LOG_FATAL(const Logger & logger)
{
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR) << "[TRT] ";
return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR);
}

} // anonymous namespace
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4 changes: 2 additions & 2 deletions launch/tier4_localization_launch/launch/localization.launch.xml
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@@ -1,10 +1,10 @@
<?xml version="1.0"?>
<launch>
<!-- Parameter files -->
<arg name="pose_source"/>
<arg name="pose_source" description="A string consisting of ndt, yabloc, artag and eagleye joined by underscores no matter the order. e.g. ndt_yabloc"/>
<arg name="twist_source"/>
<arg name="system_run_mode"/>

<!-- Parameter files -->
<arg name="crop_box_filter_measurement_range_param_path"/>
<arg name="voxel_grid_downsample_filter_param_path"/>
<arg name="random_downsample_filter_param_path"/>
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4 changes: 3 additions & 1 deletion ...h/tier4_localization_launch/launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml
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@@ -1,9 +1,11 @@
<?xml version="1.0"?>
<launch>
<group>
<arg name="input_image"/>

<include file="$(find-pkg-share ar_tag_based_localizer)/launch/ar_tag_based_localizer.launch.xml">
<arg name="input_lanelet2_map" value="/map/vector_map"/>
<arg name="input_image" value="/sensing/camera/traffic_light/image_raw"/>
<arg name="input_image" value="$(var input_image)"/>
<arg name="input_camera_info" value="/sensing/camera/traffic_light/camera_info"/>
<arg name="input_ekf_pose" value="/localization/pose_twist_fusion_filter/biased_pose_with_covariance"/>
<arg name="output_pose_with_covariance" value="/localization/pose_estimator/pose_with_covariance"/>
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214 changes: 89 additions & 125 deletions launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
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@@ -1,152 +1,116 @@
<?xml version="1.0"?>
<launch>
<!-- only when running with a real vehicle, the pose_initializer judges the stop -->
<let name="stop_check_enabled" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)" value="true"/>
<let name="stop_check_enabled" if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)" value="false"/>

<!-- When gnss_enabled is false, automatic_pose_initializer will not run, only manual initial position estimation is available. -->
<arg name="gnss_enabled" default="true" description="gnss availability for initial position estimation"/>

<!-- split string with underscores -->
<let name="available_args" value="[\'ndt\',\'yabloc\',\'eagleye\',\'artag\']"/>
<let name="split_function" value="list(set('$(var pose_source)'.split('_')).intersection($(var available_args)))"/>
<let name="pose_sources" value="$(eval $(var split_function))"/>
<let name="multi_localizer_mode" value="$(eval &quot;len($(var pose_sources))> 1&quot;)"/>

<!-- organizes flags for which nodes to activate -->
<let name="use_ndt_pose" value="$(eval &quot;'ndt' in $(var pose_sources)&quot;)"/>
<let name="use_yabloc_pose" value="$(eval &quot;'yabloc' in $(var pose_sources)&quot;)"/>
<let name="use_artag_pose" value="$(eval &quot;'artag' in $(var pose_sources)&quot;)"/>
<let name="use_eagleye_pose" value="$(eval &quot;'eagleye' in $(var pose_sources)&quot;)"/>
<let name="use_eagleye_twist" value="$(eval &quot;'eagleye' == '$(var twist_source)'&quot;)"/>
<let name="use_gyro_odom_twist" value="$(eval &quot;'gyro_odom' == '$(var twist_source)'&quot;)"/>

<!-- NDT Scan Matcher Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='ndt'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml"/>
</group>
<group>
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="true"/>
<arg name="gnss_enabled" value="true"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
</group>
<group if="$(var use_ndt_pose)">
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ndt_scan_matcher.launch.xml"/>
</group>

<!-- YabLoc Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/yabloc.launch.xml"/>
</group>
<group>
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="true"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="true"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
<group if="$(var use_yabloc_pose)">
<push-ros-namespace namespace="pose_estimator"/>
<let name="yabloc_src_image" value="/sensing/camera/traffic_light/image_raw" unless="$(var multi_localizer_mode)"/>
<let name="yabloc_src_image" value="/sensing/camera/traffic_light/image_raw/yabloc_relay" if="$(var multi_localizer_mode)"/>

<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/yabloc.launch.xml">
<arg name="src_image" value="$(var yabloc_src_image)"/>
</include>
</group>

<!-- Gyro Odometer Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var twist_source)'=='gyro_odom'&quot;)">
<!-- Gyro Odometer Launch (as twist estimator) -->
<group if="$(var use_gyro_odom_twist)">
<push-ros-namespace namespace="twist_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/gyro_odometer.launch.xml"/>
</group>

<!-- Eagleye Launch (as pose & twist estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
<group>
<push-ros-namespace namespace="pose_twist_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
<arg name="output_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="output_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="use_eagleye_pose" value="true"/>
<arg name="use_eagleye_twist" value="true"/>
</include>
</group>
<group>
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="true"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance"/>
</include>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>
<!-- Eagleye Launch -->
<group if="$(eval &quot;$(var use_eagleye_pose) or $(var use_eagleye_twist)&quot;)">
<let name="eagleye_name_space" value="pose_twist_estimator"/>
<let name="eagleye_name_space" value="twist_estimator" unless="$(var use_eagleye_pose)"/>
<let name="eagleye_name_space" value="pose_estimator" unless="$(var use_eagleye_twist)"/>
<let name="output_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance" unless="$(var multi_localizer_mode)"/>
<let name="output_pose_with_cov_name" value="/localization/pose_estimator/eagleye/pose_with_covariance/to_relay" if="$(var multi_localizer_mode)"/>

<!-- Eagleye Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
<arg name="output_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
<arg name="use_eagleye_pose" value="true"/>
<arg name="use_eagleye_twist" value="false"/>
</include>
</group>
<group>
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="true"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance"/>
</include>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>

<!-- Eagleye Launch (as twist estimator) -->
<group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
<push-ros-namespace namespace="twist_estimator"/>
<push-ros-namespace namespace="$(var eagleye_name_space)"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
<arg name="output_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="use_eagleye_pose" value="false"/>
<arg name="use_eagleye_twist" value="true"/>
<arg name="output_pose_with_cov_name" value="$(var output_pose_with_cov_name)"/>
<arg name="use_eagleye_pose" value="$(var use_eagleye_pose)"/>
<arg name="use_eagleye_twist" value="$(var use_eagleye_twist)"/>
</include>
</group>

<!-- AR Tag Based Localizer (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml"/>
<group if="$(var use_artag_pose)">
<push-ros-namespace namespace="pose_estimator"/>
<let name="artag_input_image" value="/sensing/camera/traffic_light/image_raw" unless="$(var multi_localizer_mode)"/>
<let name="artag_input_image" value="/sensing/camera/traffic_light/image_raw/artag_relay" if="$(var multi_localizer_mode)"/>

<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml">
<arg name="input_image" value="$(var artag_input_image)"/>
</include>
</group>

<!-- Pose Estimator Arbiter Launch -->
<group if="$(var multi_localizer_mode)">
<include file="$(find-pkg-share pose_estimator_arbiter)/launch/pose_estimator_arbiter.launch.xml">
<arg name="pose_sources" value="$(var pose_sources)"/>
<arg name="input_pointcloud" value="$(var input_pointcloud)"/>
</include>
</group>

<!-- Util Launch -->
<group>
<push-ros-namespace namespace="util"/>

<!-- pose_initializer -->
<let name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
<group if="$(var use_eagleye_pose)" scoped="false">
<let name="sub_gnss_pose_cov" value="/localization/pose_estimator/pose_with_covariance" unless="$(var multi_localizer_mode)"/>
</group>

<group>
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="false"/>
<arg name="gnss_enabled" value="false"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="/sensing/gnss/pose_with_covariance"/>
</include>
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.py">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="$(var use_ndt_pose)"/>
<arg name="yabloc_enabled" value="$(var use_yabloc_pose)"/>
<arg name="gnss_enabled" value="$(var gnss_enabled)"/>
<arg name="ekf_enabled" value="true"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
<arg name="config_file" value="$(var pose_initializer_param_path)"/>
<arg name="sub_gnss_pose_cov" value="$(var sub_gnss_pose_cov)"/>
</include>

<!-- automatic_pose_initializer -->
<group if="$(var gnss_enabled)">
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>

<!-- pointcloud_downsampling -->
<let name="override_input_pointcloud" value="$(var input_pointcloud)"/>
<let name="override_input_pointcloud" value="$(var input_pointcloud)/relay" if="$(var multi_localizer_mode)"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/util/util.launch.xml" if="$(var use_ndt_pose)">
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
<arg name="input_pointcloud" value="$(var override_input_pointcloud)"/>
</include>
</group>
</launch>
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