refactor(elevation_map_loader): rework parameters #6678

oguzkaganozt · 2024-03-22T14:35:41Z

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the elevation_map_loader package.

Create the schema

Tests performed

Package built and launched locally.

Effects on system behavior

More reliable and faster parameter configuration file creation.

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Shin-kyoto · 2024-03-29T01:20:00Z

perception/elevation_map_loader/config/elevation_map_parameters.yaml

@@ -1,30 +0,0 @@
-pcl_grid_map_extraction:
-  num_processing_threads: 12


Why did you remove transform and rotation parameters?

Just added other parameters, please check out now

Shin-kyoto

Thank you for your PR!

Please add the detail of your local test.

Your launch command
Map file you used in test

Shin-kyoto

Did you executed both cases of use_sequential_load, one with True and the other with False?
Please add launch command, params you used and output in Test Performed section.

codecov · 2024-03-29T01:31:50Z

Codecov Report

Attention: Patch coverage is 0% with 12 lines in your changes missing coverage. Please review.

Project coverage is 29.62%. Comparing base (c6c3b1c) to head (71907ae).
Report is 3 commits behind head on main.

Files with missing lines	Patch %	Lines
...ation_map_loader/src/elevation_map_loader_node.cpp	0.00%	12 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6678      +/-   ##
==========================================
- Coverage   29.63%   29.62%   -0.01%     
==========================================
  Files        1338     1338              
  Lines      103133   103142       +9     
  Branches    40171    40172       +1     
==========================================
- Hits        30561    30557       -4     
- Misses      69619    69632      +13     
  Partials     2953     2953

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`29.63% <ø> (+<0.01%)`	⬆️	Carriedforward from c6c3b1c

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github-actions · 2024-03-29T01:38:00Z

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6678/
Modified URLs:

https://autowarefoundation.github.io/autoware.universe/pr-6678/perception/autoware_elevation_map_loader/

Shin-kyoto

Why did you remove the explanation of parameters from README? In my opinion, README of elevation_map_loader should include these parameters. Before your PR, all parameters are written. However, after your PR, GridMap parameters and Point Cloud Pre-processing Parameters are removed.

Before your PR

GridMap parameters and Point Cloud Pre-processing Parameters are included in README.md
https://github.com/autowarefoundation/autoware.universe/tree/main/perception/elevation_map_loader

After your PR

GridMap parameters and Point Cloud Pre-processing Parameters are removed from README.md
https://autowarefoundation.github.io/autoware.universe/pr-6678/perception/elevation_map_loader/

Shin-kyoto

@oguzkaganozt

Thank you so much for fixing PR!
After your PR, the range column is added. Although all entries are currently listed as N/A, in reality, there should be a range set.
If you want to add the range column, please ensure that appropriate ranges are set so that they are not listed as N/A.

stale · 2024-06-15T12:13:34Z

This pull request has been automatically marked as stale because it has not had recent activity.

Shin-kyoto · 2024-06-17T00:33:55Z

@oguzkaganozt

I appreciate your efforts in this Pull Request. Could you let me know if there has been any progress on the range column? The Pull Request is being marked as stale.
Thank you for your attention.

oguzkaganozt · 2024-06-21T13:20:32Z

@oguzkaganozt

I appreciate your efforts in this Pull Request. Could you let me know if there has been any progress on the range column? The Pull Request is being marked as stale. Thank you for your attention.

@Shin-kyoto

Thanks for the heads-up ! Just updated the PR now with the current main branch.
The range column is added automatically by default from json_to_markdown function. Here is another example of the table generated by that function. If it is really necessary, could you help filling the range(s) ?

Shin-kyoto · 2024-07-05T01:03:43Z

@oguzkaganozt

Thank you for your comment !!

Could you please proceed as follows?

Please look at the code and fill in the range
Fill in the range of type where it is not clear from the code
I'll review it after it's filled in.

We thank you for your cooperation 👍

Shin-kyoto

@oguzkaganozt
This PR causes conflicts with main branch, Could you please resolve them?

github-actions · 2024-08-12T11:33:38Z

Thank you for contributing to the Autoware project!

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Please ensure:

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Shin-kyoto

@oguzkaganozt friendly ping

Shin-kyoto

@oguzkaganozt friendly ping

Shin-kyoto · 2024-10-04T05:39:27Z

@oguzkaganozt

Please fix README.md because it is difficult to check params on GitHub.

@oguzkaganozt friendly ping

Shin-kyoto · 2024-10-04T05:39:45Z

Could you please perform a functionality check with all the changes included and document the verification method and results?
Please add the detail below.

How was this PR tested?

launch command

visualized result of elevation_map in rviz

config file you used in test

@Shin-kyoto thanks for the review. But as the elevation_map_loader not being launched by default in autoware_launch. I really don't know how to test the elevation_map_loader by itself. Could you help on that ?

OK. The launch file below is helpful for you. Please check it.

https://github.com/autowarefoundation/autoware.universe/blob/main/perception/autoware_elevation_map_loader/launch/elevation_map_loader.launch.xml

@oguzkaganozt friendly ping

Shin-kyoto

@oguzkaganozt

friendly ping

Shin-kyoto

@oguzkaganozt

friendly ping

Shin-kyoto · 2024-11-12T11:09:03Z

@oguzkaganozt

friendly ping

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

Signed-off-by: Oguz Ozturk <[email protected]>

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

…der_node.cpp Co-authored-by: Shintaro Tomie <[email protected]>

Shin-kyoto

@oguzkaganozt
Can you solve the conflict about perception/autoware_elevation_map_loader/src/elevation_map_loader_node.cpp ?

mitsudome-r · 2025-01-14T08:27:10Z

@oguzkaganozt friendly ping.

oguzkaganozt requested review from kosuke55 and Shin-kyoto as code owners March 22, 2024 14:35

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) labels Mar 22, 2024

oguzkaganozt self-assigned this Mar 27, 2024

oguzkaganozt requested review from wep21, taikitanaka3 and yukkysaito March 27, 2024 11:00

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stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Jun 15, 2024

stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label Jun 17, 2024

mitsudome-r added run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) and removed run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) labels Jun 20, 2024

oguzkaganozt force-pushed the refactor_elevation_map_loader branch from 460afd4 to 4672ca6 Compare June 21, 2024 12:52

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oguzkaganozt force-pushed the refactor_elevation_map_loader branch from 4672ca6 to d8369e4 Compare August 12, 2024 11:33

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oguzkaganozt force-pushed the refactor_elevation_map_loader branch from 8499e25 to 9cdfd86 Compare October 3, 2024 12:36

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oguzkaganozt and others added 19 commits November 14, 2024 15:09

Rework params

25f733d

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

style(pre-commit): autofix

5747b4b

fix

ffebc38

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

add gridmap and pointcloud preprocessing params

78754aa

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

style(pre-commit): autofix

8e69189

add node sub param

17d0549

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

style(pre-commit): autofix

5f1cfbd

fix sub paths

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Signed-off-by: Oguz Ozturk <[email protected]>

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da28bea

Signed-off-by: Oguz Ozturk <[email protected]>

add range and comment

069a49c

Signed-off-by: Oguz Ozturk <[email protected]>

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e9651cc

Signed-off-by: Oguz Ozturk <[email protected]>

fix review notes

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Signed-off-by: Oguz Ozturk <[email protected]>

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

Update perception/autoware_elevation_map_loader/src/elevation_map_loa…

71907ae

…der_node.cpp Co-authored-by: Shintaro Tomie <[email protected]>

oguzkaganozt force-pushed the refactor_elevation_map_loader branch from 2a674bf to 71907ae Compare November 14, 2024 12:09

Shin-kyoto reviewed Dec 6, 2024

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refactor(elevation_map_loader): rework parameters #6678

refactor(elevation_map_loader): rework parameters #6678

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mitsudome-r commented Jan 14, 2025

		@@ -1,30 +0,0 @@
		pcl_grid_map_extraction:
		num_processing_threads: 12

refactor(elevation_map_loader): rework parameters #6678

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refactor(elevation_map_loader): rework parameters #6678

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oguzkaganozt commented Mar 22, 2024 • edited Loading

Description

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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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