Merge branch 'main' into refactor/distortion_corrector_node

autowarefoundation · Jun 27, 2024 · e969356 · e969356
2 parents 803b158 + a7e83ff
commit e969356
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diff --git a/.github/workflows/cppcheck-differential.yaml b/.github/workflows/cppcheck-differential.yaml
@@ -31,37 +31,33 @@ jobs:
         run: git fetch origin ${{ github.base_ref }}
         shell: bash
 
-      - name: Get changed files
-        id: changed-files
+      - name: Get changed files (existing files only)
+        id: get-changed-files
         run: |
-          git diff --name-only "origin/${{ github.base_ref }}"...HEAD > changed_files.txt
-          cat changed_files.txt
+          echo "changed-files=$(git diff --name-only "origin/${{ github.base_ref }}"...HEAD | grep -E '\.(cpp|hpp)$' | while read -r file; do [ -e "$file" ] && echo -n "$file "; done)" >> $GITHUB_OUTPUT
         shell: bash
 
       - name: Run Cppcheck on changed files
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         continue-on-error: true
         id: cppcheck
         run: |
-          files=$(cat changed_files.txt | grep -E '\.(cpp|hpp)$' || true)
-          if [ -n "$files" ]; then
-            echo "Running Cppcheck on changed files: $files"
-            cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions $files 2> cppcheck-report.txt
-          else
-            echo "No C++ files changed."
-            touch cppcheck-report.txt
-          fi
+          echo "Running Cppcheck on changed files: ${{ steps.get-changed-files.outputs.changed-files }}"
+          cppcheck --enable=all --inconclusive --check-level=exhaustive --error-exitcode=1 --suppressions-list=.cppcheck_suppressions ${{ steps.get-changed-files.outputs.changed-files }} 2> cppcheck-report.txt
         shell: bash
 
       - name: Show cppcheck-report result
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         run: |
           cat cppcheck-report.txt
 
       - name: Upload Cppcheck report
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' }}
         uses: actions/upload-artifact@v2
         with:
           name: cppcheck-report
           path: cppcheck-report.txt
 
       - name: Fail the job if Cppcheck failed
-        if: steps.cppcheck.outcome == 'failure'
+        if: ${{ steps.get-changed-files.outputs.changed-files != '' && steps.cppcheck.outcome == 'failure' }}
         run: exit 1
diff --git a/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
diff --git a/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -1,17 +1,11 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Lidar parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="input/pointcloud_map/pointcloud"/>
-  <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="node/pointcloud_container"/>
-
   <!-- Lidar + Camera detector parameters -->
   <arg name="lidar_detection_model" description="options: `centerpoint`, `apollo`, `pointpainting`, `clustering`"/>
   <arg name="use_roi_based_cluster"/>
   <arg name="use_low_intensity_cluster_filter"/>
 
-  <!-- Camera parameters -->
+  <!-- External interfaces -->
   <arg name="number_of_cameras"/>
   <arg name="input/camera0/image"/>
   <arg name="input/camera0/info"/>
@@ -38,6 +32,14 @@
   <arg name="input/camera7/info"/>
   <arg name="input/camera7/rois"/>
 
+  <arg name="node/pointcloud_container"/>
+  <arg name="input/pointcloud"/>
+  <arg name="input/pointcloud_map/pointcloud"/>
+  <arg name="input/obstacle_segmentation/pointcloud"/>
+
+  <arg name="output/ml_detector/objects"/>
+  <arg name="output/rule_detector/objects"/>
+
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolox)/launch/multiple_yolox.launch.xml">
     <arg name="image_raw0" value="$(var input/camera0/image)"/>
@@ -81,7 +83,7 @@
       <arg name="input/image6" value="$(var input/camera6/image)"/>
       <arg name="input/image7" value="$(var input/camera7/image)"/>
       <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-      <arg name="output/objects" value="objects"/>
+      <arg name="output/objects" value="$(var output/ml_detector/objects)"/>
 
       <arg name="model_name" value="$(var lidar_detection_model)"/>
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
@@ -93,18 +95,6 @@
     </include>
   </group>
 
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
-
   <!-- Clustering -->
   <group>
     <push-ros-namespace namespace="clustering"/>
@@ -230,7 +220,7 @@
       <group>
         <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
           <arg name="input" value="objects_with_feature"/>
-          <arg name="output" value="objects"/>
+          <arg name="output" value="$(var output/rule_detector/objects)"/>
         </include>
       </group>
     </group>

diff --git a/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml b/...ception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml
@@ -1,18 +1,19 @@
 <?xml version="1.0"?>
 <launch>
   <!-- Lidar parameters -->
-  <arg name="input/pointcloud"/>
-  <arg name="node/pointcloud_container"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `transfusion`, `centerpoint`, `apollo`, `clustering`"/>
-
   <!-- Lidar detector centerpoint parameters -->
   <arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint`, `centerpoint_tiny` or `centerpoint_sigma`"/>
   <arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>
-
   <!-- Lidar detector transfusion parameters -->
   <arg name="transfusion_model_name" default="transfusion" description="options: `transfusion`"/>
   <arg name="transfusion_model_path" default="$(var data_path)/lidar_transfusion"/>
 
+  <!-- External interfaces -->
+  <arg name="node/pointcloud_container"/>
+  <arg name="input/pointcloud"/>
+  <arg name="output/objects"/>
+
   <!-- TransFusion -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='transfusion'&quot;)">
     <push-ros-namespace namespace="transfusion"/>
@@ -21,7 +22,7 @@
     <group>
       <include file="$(find-pkg-share lidar_transfusion)/launch/lidar_transfusion.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
+        <arg name="output/objects" value="$(var output/objects)"/>
         <arg name="model_name" value="$(var transfusion_model_name)"/>
         <arg name="model_path" value="$(var transfusion_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var transfusion_model_name).param.yaml"/>
@@ -41,7 +42,7 @@
     <group>
       <include file="$(find-pkg-share lidar_centerpoint)/launch/lidar_centerpoint.launch.xml">
         <arg name="input/pointcloud" value="$(var input/pointcloud)"/>
-        <arg name="output/objects" value="objects"/>
+        <arg name="output/objects" value="$(var output/objects)"/>
         <arg name="model_name" value="$(var centerpoint_model_name)"/>
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
@@ -77,7 +78,7 @@
     <group>
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
         <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
+        <arg name="output" value="$(var output/objects)"/>
       </include>
     </group>
   </group>

diff --git a/...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml b/...eption_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml
@@ -1,22 +1,10 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- Lidar parameters -->
+  <!-- External interfaces -->
+  <arg name="node/pointcloud_container"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="node/pointcloud_container"/>
-  <arg name="use_pointcloud_map"/>
-
-  <!-- Pointcloud filter -->
-  <group>
-    <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/filter/pointcloud_map_filter.launch.py">
-      <arg name="input_topic" value="$(var input/obstacle_segmentation/pointcloud)"/>
-      <arg name="output_topic" value="pointcloud_map_filtered/pointcloud"/>
-      <arg name="use_intra_process" value="true"/>
-      <arg name="use_multithread" value="true"/>
-      <arg name="pointcloud_container_name" value="$(var node/pointcloud_container)"/>
-      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
-    </include>
-  </group>
+  <arg name="output/objects"/>
 
   <!-- Clustering -->
   <group>
@@ -43,7 +31,7 @@
     <group>
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
         <arg name="input" value="objects_with_feature"/>
-        <arg name="output" value="objects"/>
+        <arg name="output" value="$(var output/objects)"/>
       </include>
     </group>
   </group>

diff --git a/...ion_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml b/...ion_launch/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml
@@ -1,10 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+  <arg name="output/objects"/>
   <!-- DetectionByTracker -->
   <group>
     <push-ros-namespace namespace="detection_by_tracker"/>
     <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
       <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
+      <arg name="output" value="$(var output/objects)"/>
     </include>
   </group>
 </launch>
diff --git a/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml b/...rception_launch/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml
@@ -44,9 +44,9 @@
   <arg name="input/camera7/rois"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
-  <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
-  <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
+  <arg name="input/lidar_ml/objects"/>
+  <arg name="input/lidar_rule/objects"/>
+  <arg name="input/detection_by_tracker/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->

diff --git a/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml b/...on_launch/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml
@@ -47,16 +47,16 @@
   <arg name="input/camera7/rois"/>
   <arg name="input/pointcloud_map/pointcloud"/>
   <arg name="input/obstacle_segmentation/pointcloud"/>
-  <arg name="input/lidar_ml/objects" default="$(var lidar_detection_model)/objects"/>
-  <arg name="input/lidar_rule/objects" default="clustering/camera_lidar_fusion/objects"/>
-  <arg name="input/radar_near/objects" default="radar/noise_filtered_objects"/>
-  <arg name="input/radar_far/objects" default="radar/far_objects"/>
-  <arg name="input/detection_by_tracker/objects" default="detection_by_tracker/objects"/>
+  <arg name="input/lidar_ml/objects"/>
+  <arg name="input/lidar_rule/objects"/>
+  <arg name="input/radar/objects"/>
+  <arg name="input/radar_far/objects"/>
+  <arg name="input/detection_by_tracker/objects"/>
   <arg name="output/objects" default="objects"/>
 
   <!-- internal interfaces -->
   <let name="radar_objects_fusion/input/objects" value="$(var input/lidar_ml/objects)"/>
-  <let name="radar_objects_fusion/input/radars" value="$(var input/radar_near/objects)"/>
+  <let name="radar_objects_fusion/input/radars" value="$(var input/radar/objects)"/>
   <let name="radar_objects_fusion/output/objects" value="radar_fusion/objects"/>
 
   <let name="camera_roi_fusion/input/objects" value="$(var radar_objects_fusion/output/objects)" if="$(var use_near_radar_fusion)"/>