feat(detection): add container option #6228

kminoda · 2024-01-30T05:51:25Z

Description

Add container option for

lidar_centerpoint
image_projection_based_fusion/pointpainting
euclidean_clustering

MUST BE MERGED WITH autowarefoundation/autoware_launch#834

Note that the inf values are replaced with a large value, since it somehow fails with ComposableNode launch

Tests performed

Confirmed that Autoware launches successfully with

use_pointcloud_container = true
use_pointcloud_container = false

and also verified that the result of ros2 component list is as expected.
For true:
use_pointcloud_container_true.txt
and for false:
use_pointcloud_container_false.txt

Effects on system behavior

When use_pointcloud_container = false, no effects are expected. When use_pointcloud_container = true, internal data communication will be reduced which may results in an efficient system performance.

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…_container option Signed-off-by: kminoda <[email protected]>

Signed-off-by: kminoda <[email protected]>

codecov · 2024-01-30T11:39:22Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (2e4b25a) 14.38% compared to head (a7d0626) 14.39%.
Report is 6 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #6228    +/-   ##
========================================
  Coverage   14.38%   14.39%            
========================================
  Files        1906     1906            
  Lines      129910   129808   -102     
  Branches    37616    37527    -89     
========================================
- Hits        18691    18686     -5     
+ Misses      90207    90161    -46     
+ Partials    21012    20961    -51

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <ø> (?)`
total	`14.39% <ø> (+<0.01%)`	⬆️	Carriedforward from 0a77e4e

*This pull request uses carry forward flags. Click here to find out more.

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perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Signed-off-by: kminoda <[email protected]>

…ainer

…ointcloud_container is true Signed-off-by: kminoda <[email protected]>

Signed-off-by: kminoda <[email protected]>

Co-authored-by: Shunsuke Miura <[email protected]>

miursh

LGTM

kminoda · 2024-02-01T00:42:38Z

@yukkysaito @knzo25 Hi, would you review this PR? We need your approval for euclidean_cluster and lidar_centerpoint, respectively.

knzo25

LGTM 🙇

yukkysaito

LGTM

* feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option Signed-off-by: kminoda <[email protected]> * revert lidar_perception_model Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * fix: add options Signed-off-by: kminoda <[email protected]> * fix: fix default param Signed-off-by: kminoda <[email protected]> * update node name Signed-off-by: kminoda <[email protected]> * fix: fix IfCondition Signed-off-by: kminoda <[email protected]> * fix pointpainting namespace Signed-off-by: kminoda <[email protected]> * fix: fix launch args Signed-off-by: kminoda <[email protected]> * fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true Signed-off-by: kminoda <[email protected]> * fix(euclidean_cluster): fix launch condition Signed-off-by: kminoda <[email protected]> * fix(euclidean_cluster): fix launch condition Signed-off-by: kminoda <[email protected]> * Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml Co-authored-by: Shunsuke Miura <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shunsuke Miura <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>

kminoda added 2 commits January 30, 2024 14:48

feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud…

fdf60d6

…_container option Signed-off-by: kminoda <[email protected]>

revert lidar_perception_model

50211e5

Signed-off-by: kminoda <[email protected]>

github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Jan 30, 2024

style(pre-commit): autofix

66110e0

kminoda changed the title ~~feat(lidar_centerpoint,image_projection_based_fusion): add container option~~ feat(detection): add container option Jan 30, 2024

kminoda added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 30, 2024

kminoda added 2 commits January 30, 2024 15:07

fix: add options

ca72a0c

Signed-off-by: kminoda <[email protected]>

fix: fix default param

30bac0d

Signed-off-by: kminoda <[email protected]>

kminoda mentioned this pull request Jan 30, 2024

feat(detection): add container option autowarefoundation/autoware_launch#834

Merged

4 tasks

kminoda marked this pull request as ready for review January 30, 2024 06:09

kminoda requested review from knzo25, yukke42, badai-nguyen, ktro2828, miursh, tzhong518, YoshiRi and yukkysaito as code owners January 30, 2024 06:09

kminoda and others added 5 commits January 30, 2024 15:09

Merge branch 'main' into feat/ml_detection/use_container

8050460

update node name

eb38c1e

Signed-off-by: kminoda <[email protected]>

fix: fix IfCondition

a80f4de

Signed-off-by: kminoda <[email protected]>

fix pointpainting namespace

2fba982

Signed-off-by: kminoda <[email protected]>

Merge branch 'main' into feat/ml_detection/use_container

6b1a5d1

kminoda assigned miursh Jan 30, 2024

miursh reviewed Jan 31, 2024

View reviewed changes

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml Outdated Show resolved Hide resolved

perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml Outdated Show resolved Hide resolved

kminoda added 3 commits January 31, 2024 09:23

fix: fix launch args

704589b

Signed-off-by: kminoda <[email protected]>

Merge remote-tracking branch 'origin' into feat/ml_detection/use_cont…

1a17a79

…ainer

fix(euclidean_cluster): do not launch individual container when use_p…

a8b0d46

…ointcloud_container is true Signed-off-by: kminoda <[email protected]>

kminoda and others added 3 commits January 31, 2024 10:37

fix(euclidean_cluster): fix launch condition

24f6e50

Signed-off-by: kminoda <[email protected]>

fix(euclidean_cluster): fix launch condition

095e70f

Signed-off-by: kminoda <[email protected]>

Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

9238f2c

Co-authored-by: Shunsuke Miura <[email protected]>

miursh approved these changes Jan 31, 2024

View reviewed changes

Merge branch 'main' into feat/ml_detection/use_container

5ed8540

Merge branch 'main' into feat/ml_detection/use_container

c5f3f78

knzo25 approved these changes Feb 1, 2024

View reviewed changes

yukkysaito approved these changes Feb 1, 2024

View reviewed changes

Merge branch 'main' into feat/ml_detection/use_container

a7d0626

kminoda merged commit 742f44a into autowarefoundation:main Feb 1, 2024
22 of 24 checks passed

kminoda deleted the feat/ml_detection/use_container branch February 1, 2024 08:43

tier4-autoware-public-bot bot mentioned this pull request Feb 7, 2024

chore: sync upstream tier4/autoware.universe#1130

Merged

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feat(detection): add container option #6228

feat(detection): add container option #6228

kminoda commented Jan 30, 2024 •

edited by miursh

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codecov bot commented Jan 30, 2024 •

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feat(detection): add container option #6228

feat(detection): add container option #6228

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kminoda commented Jan 30, 2024 • edited by miursh Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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kminoda commented Jan 30, 2024 •

edited by miursh

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