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feat(tier4_localization_launch): change the default input pointcloud of localization into the concatenated pointcloud #6528

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TaikiYamada4
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@TaikiYamada4 TaikiYamada4 commented Mar 1, 2024

Description

Autoware should cover the use cases where the concatenated pointcloud will be applied as an input to the localization, and we expect that the number of vehicles that use multiple LiDARs will increase..

Therefore, I've opened a PR in autoware_launch that will change the default input_pointcloud to /sensing/lidar/concatenated/pointcloud instead of /sensing/lidar/top/pointcloud.

Due to this change, I also refactored the name of the argument lidar_container_name to localization_pointcloud_container_name since the candidate pointcloud container may not be specific to such LiDAR (just like this case), and it makes the argument more clear that it is for the localization component.

This PR must be merged with autowarefoundation/autoware_launch#899

Tests performed

Confirmed that the localization worked with the concatenated pointcloud in the logging_simulator tutorial.
Also tested with internal driving data, and evaluated through CARET that it hardly affected the system latency. [TIER IV INTERNAL LINK]

Effects on system behavior

The localization component will use /sensing/lidar/concatenated/pointcloud by default.
The pointcloud preprocessing nodes in the localization component will join the /pointcloud_container by default.

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@TaikiYamada4 TaikiYamada4 self-assigned this Mar 1, 2024
@TaikiYamada4 TaikiYamada4 added component:localization Vehicle's position determination in its environment. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Mar 1, 2024
@TaikiYamada4 TaikiYamada4 marked this pull request as ready for review March 1, 2024 08:11
@github-actions github-actions bot removed the component:localization Vehicle's position determination in its environment. (auto-assigned) label Mar 1, 2024
@TaikiYamada4 TaikiYamada4 requested a review from YoshiRi March 1, 2024 08:38
@TaikiYamada4 TaikiYamada4 merged commit 1b45a7e into autowarefoundation:main Mar 4, 2024
26 checks passed
HansRobo pushed a commit that referenced this pull request Mar 12, 2024
…of localization into the concatenated pointcloud (#6528)

refactor lacun argument lidar_container_name to localization_pointcloud_container_name

Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: Kotaro Yoshimoto <[email protected]>
kaigohirao pushed a commit to kaigohirao/autoware.universe that referenced this pull request Mar 22, 2024
…of localization into the concatenated pointcloud (autowarefoundation#6528)

refactor lacun argument lidar_container_name to localization_pointcloud_container_name

Signed-off-by: TaikiYamada4 <[email protected]>
Signed-off-by: kaigohirao <[email protected]>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…of localization into the concatenated pointcloud (autowarefoundation#6528)

refactor lacun argument lidar_container_name to localization_pointcloud_container_name

Signed-off-by: TaikiYamada4 <[email protected]>
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2 participants