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feat(perception reproducer): some improvements in perception reproduc…
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…er. (#72)

* fix(perception reproducer): improve perception reproducer (#69)

* temp save new parameters.

Signed-off-by: temkei.kem <[email protected]>

* update parameter

Signed-off-by: temkei.kem <[email protected]>

* update commit

Signed-off-by: temkei.kem <[email protected]>

* feat(metrics): make it possible to hide graph for each metrics (#64)

Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: temkei.kem <[email protected]>

* feat(planning_debug_tools): add cpu_usage_checker.py (#66)

* feat(planning_debug_tools): add cpu_usage_checker.py

Signed-off-by: Takayuki Murooka <[email protected]>

* update README

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>
Signed-off-by: temkei.kem <[email protected]>

* feat(route_client): add route_client (#67)

Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: temkei.kem <[email protected]>

* fix: autoware_msgs (#68)

Signed-off-by: kosuke55 <[email protected]>
Signed-off-by: temkei.kem <[email protected]>

* feat(control_data_collecting_tool): add control_data_collecting_tool (#33)

* Add control data collecting tool for learning-based control

* Implement basic part

* Disable data collection area selection during automatic driving

* Remove unnecessary code

* Add rviz_config for data collection

* Update rviz_config for data collection

* Changed to start driving by pressing LOCAL

* Fix hard coding rviz config path when launching

* Add a launch file in this package

* Add missing changes

* Claen up arguments to use rviz_config

* Updated pre-commit-hooks-ros version from v0.8.0 to v0.9.0 (#24)

Signed-off-by: Shintaro Sakoda <[email protected]>

* Add 8-figure target route

* Avoid errors when data collecting area cannot be selected by clicking properly.

* Change to launch another launch for data collection after launching the standard autoware_launch.

* chore(tools): move system and evaluation tools to this repo from autoware.universe (#26)

* chore(tools): move system tools

Signed-off-by: satoshi-ota <[email protected]>

* chore(evaluator): move evaluators

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>

* update

* update trajectory publisher

* update

* feat(driving_environment_analyzer): add rviz plugin (#23)

* feat(driving_environment_analyzer): add rviz plugin

Signed-off-by: satoshi-ota <[email protected]>

* feat(driving_environment_analyzer): output csv file

Signed-off-by: satoshi-ota <[email protected]>

---------

Signed-off-by: satoshi-ota <[email protected]>

* add naive pure pursuit

* update

* clean up naive pure pursuit

* smoothing trajectory position

* refactor

* chore(rviz_plugin): move peripheral rviz plugin (#27)

* feat:  calibrator tier4 pkg name (#200)

* feat: change names

Signed-off-by: tanaka3 <[email protected]>

* feat: move pkg to common

Signed-off-by: tanaka3 <[email protected]>

* feat: change pkg name

Signed-off-by: tanaka3 <[email protected]>

* fix: library path (#225)

Signed-off-by: taikitanaka3 <[email protected]>

Co-authored-by: taikitanaka3 <[email protected]>

* feat: add rviz plugin to publish and control the simulated clock (#349)

* Add tier4_clock_rviz_plugin to publish&control the sim clock in rviz

Signed-off-by: Maxime CLEMENT <[email protected]>

* Add step control

Signed-off-by: Maxime CLEMENT <[email protected]>

* Fix precommit

Signed-off-by: Maxime CLEMENT <[email protected]>

* Update documentation

Signed-off-by: Maxime CLEMENT <[email protected]>

* Fix spellcheck

Signed-off-by: Maxime CLEMENT <[email protected]>

* Update plugin description and icon

Signed-off-by: Maxime CLEMENT <[email protected]>

* Rename package

Signed-off-by: Maxime CLEMENT <[email protected]>

* Fix bug with long duration jumps (high speed + low rate)

Signed-off-by: Maxime CLEMENT <[email protected]>

* ci: check include guard (#438)

* ci: check include guard

* apply pre-commit

* Update .pre-commit-config.yaml

Co-authored-by: Kenji Miyake <[email protected]>

* fix: pre-commit

Signed-off-by: Takagi, Isamu <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* chore: sync files (#629)

* chore: sync files

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

* ci(pre-commit): autofix

Co-authored-by: kenji-miyake <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* style: fix format of package.xml (#844)

Signed-off-by: Kenji Miyake <[email protected]>

* refactor: use autoware cmake (#849)

* remove autoware_auto_cmake

Signed-off-by: Kenji Miyake <[email protected]>

* add build_depend of autoware_cmake

Signed-off-by: Kenji Miyake <[email protected]>

* use autoware_cmake in CMakeLists.txt

Signed-off-by: Kenji Miyake <[email protected]>

* fix bugs

Signed-off-by: Kenji Miyake <[email protected]>

* fix cmake lint errors

Signed-off-by: Kenji Miyake <[email protected]>

* chore: upgrade cmake_minimum_required to 3.14 (#856)

Signed-off-by: Kenji Miyake <[email protected]>

* fix(accel_brake_map_calibrator): rviz panel type (#895)

* fixed panel type

Signed-off-by: Mamoru Sobue <[email protected]>

* modified instruction for rosbag replay case

Signed-off-by: Mamoru Sobue <[email protected]>

* modified update_map_dir service name

Signed-off-by: Mamoru Sobue <[email protected]>

* feat: add manual controller (#989)

* feat: add manual controller

Signed-off-by: tanaka3 <[email protected]>

* ci(pre-commit): autofix

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* fix : typo

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* chore: minor update

Signed-off-by: tanaka3 <[email protected]>
Signed-off-by: Shumpei Wakabayashi <[email protected]>

* chore : add minor update

Signed-off-by: tanaka3 <[email protected]>
Signed-off-by: Shumpei Wakabayashi <[email protected]>

* docs: add image for readme

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* docs: update docs

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* ci(pre-commit): autofix

Signed-off-by: Shumpei Wakabayashi <[email protected]>

* ci(pre-commit): autofix

* Update common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp

Signed-off-by: Shumpei Wakabayashi <Shumpei Wakabayashi>

Co-authored-by: taikitanaka3 <[email protected]>

* Update common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp

Co-authored-by: taikitanaka3 <[email protected]>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shumpei Wakabayashi <[email protected]>
Co-authored-by: Shumpei Wakabayashi <[email protected]>

* feat(manual_controller): support backward driving (#1119)

* feat(manual_controller): support backward driving

Signed-off-by: tanaka3 <[email protected]>

* chore: unite variable

* feat: add screen capture package (#1177)

* feat: add screen capture package

Signed-off-by: tanaka3 <[email protected]>

* feat: add state to current process

* style: refactor codes

* fix: time

* feat: add mp4 writer and finalize folders

* feat: add trigger by service

Signed-off-by: tanaka3 <[email protected]>

* feat: update recorder

Signed-off-by: tanaka3 <[email protected]>

* fix: change codec of mp4 to h264 (#1262)

Signed-off-by: tomoya.kimura <[email protected]>

* feat: optimize screen capture panel (#1470)

* feat: optimize screen capture panel

Signed-off-by: tomoya.kimura <[email protected]>

* apply pre-commit

Signed-off-by: tomoya.kimura <[email protected]>

* fix: remove unused check of rviz plugin version (#1474)

Signed-off-by: Takagi, Isamu <[email protected]>

* fix(rviz_plugin): fix screen capture plugin (#1492)

Signed-off-by: tanaka3 <[email protected]>

* refactor(tier4_calibration_rviz_plugin): apply clang-tidy (#1596)

* refactor(tier4_control_rviz_plugin): apply clang-tidy (#1597)

* refactor(tier4_control_rviz_plugin): apply clang-tidy

* revert: readability-identifier-naming

Signed-off-by: h-ohta <[email protected]>

Signed-off-by: h-ohta <[email protected]>

* revert(tier4_calibration_rviz_plugin): readability-identifier-naming (#1618)

* fix(tier4_screen_capture_rviz_plugin): fix release process to handle video writer correctly (#1622)

* refactor(tier4_screen_capture_rviz_plugin):apply clang-tidy (#1649)

Signed-off-by: h-ohta <[email protected]>

Signed-off-by: h-ohta <[email protected]>

* fix(tier4_screen_capture_rviz_plugin): fix spell check (#1790)

* fix(tier4_screen_capture_rviz_plugin): fix spell check

Signed-off-by: h-ohta <[email protected]>

* ci(pre-commit): autofix

Signed-off-by: h-ohta <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat: add rtc  manager rviz plugin (#1936)

* feat: add rtc  manager rviz plugin

Signed-off-by: tanaka3 <[email protected]>

* chore: cosmetic change

Signed-off-by: tanaka3 <[email protected]>

* chore: remove indent

Signed-off-by: tanaka3 <[email protected]>

* feat: add rtc safe unsafe color

Signed-off-by: tanaka3 <[email protected]>

* fix: typo

Signed-off-by: tanaka3 <[email protected]>

* chore: simplify layout

Signed-off-by: tanaka3 <[email protected]>

* feat: update rtc panel

Signed-off-by: tanaka3 <[email protected]>

Signed-off-by: tanaka3 <[email protected]>

* feat(rtc_manager_panel): add rtc all approval (#2009)

* feat(rtc_manager_panel): add rtc all approval

Signed-off-by: taikitanaka3 <[email protected]>

* chore: cosmetic change

Signed-off-by: taikitanaka3 <[email protected]>

* fix: static cast

Signed-off-by: tanaka3 <[email protected]>

* chore: update text

Co-authored-by: Fumiya Watanabe <[email protected]>

* chore: update text

Co-authored-by: Fumiya Watanabe <[email protected]>

* doc: update documents

Signed-off-by: tanaka3 <[email protected]>

* doc: update

Signed-off-by: tanaka3 <[email protected]>

* doc: small update

Signed-off-by: tanaka3 <[email protected]>

Signed-off-by: taikitanaka3 <[email protected]>
Signed-off-by: tanaka3 <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>

* feat(rtc_manager_rviz_plugin): add_indivisual_exe (#2021)

Signed-off-by: tanaka3 <[email protected]>

Signed-off-by: tanaka3 <[email protected]>

* feat(tier4_screen_capture_rviz_plugin): add prefix to video name (#2038)

feat: add  prefix

* feat(tier4_debug_rviz_plugin): pie chart with float32 multi array stamped (#2055)

* feat(tier4_debug_rviz_plugin): add ros2 pie chart with Float32MultiArrayStamped

Signed-off-by: Takayuki Murooka <[email protected]>

* update README.md

Signed-off-by: Takayuki Murooka <[email protected]>

* fix typo

Signed-off-by: Takayuki Murooka <[email protected]>

* fixed license

Signed-off-by: Takayuki Murooka <[email protected]>

* fix

Signed-off-by: Takayuki Murooka <[email protected]>

* removed unnecessary include

Signed-off-by: Takayuki Murooka <[email protected]>

* fix

Signed-off-by: Takayuki Murooka <[email protected]>

* fix

Signed-off-by: Takayuki Murooka <[email protected]>

Signed-off-by: Takayuki Murooka <[email protected]>

* fix(tier4_control_rviz_plugin): add time stamp for control command (#2154)

Signed-off-by: tanaka3 <[email protected]>

Signed-off-by: tanaka3 <[email protected]>

* fix(rtc_manager_rviz_plugin): size check (#2163)

* feat(behavior_path_planner): external request lane change (#2442)

* feature(behavior_path_planner): add external request lane change module

Signed-off-by: Fumiya Watanabe <[email protected]>

feature(behavior_path_planner): fix for RTC

Signed-off-by: Fumiya Watanabe <[email protected]>

feature(behavior_path_planner): fix decision logic

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): fix behavior_path_planner_tree.xml

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): fix for rebase

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): output multiple candidate paths

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): get path candidate in behavior tree manager

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): fix for multiple candidate path

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): separate external request lane change module

Signed-off-by: Fumiya Watanabe <[email protected]>

feature(behavior_path_planner): add create publisher method

Signed-off-by: Fumiya Watanabe <[email protected]>

feature(behavior_path_planner): move publishers to node

Signed-off-by: Fumiya Watanabe <[email protected]>

feature(behavior_path_planner): remove unnecessary publisher

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): move reset path candidate function to behavior tree manager

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): add external request lane change path candidate publisher

Signed-off-by: Fumiya Watanabe <[email protected]>

feat(behavior_path_planner): apply abort lane change

Signed-off-by: Fumiya Watanabe <[email protected]>

* fix(behavior_path_planner): remove unnecessary change

Signed-off-by: Fumiya Watanabe <[email protected]>

* feat(behavior_path_planner): fix getLaneChangePaths()

Signed-off-by: Fumiya Watanabe <[email protected]>

* feat(behavior_path_planner): disable external request lane change in default tree

Signed-off-by: Fumiya Watanabe <[email protected]>

* Update rtc_auto_mode_manager.param.yaml

* fix(route_handler): remove redundant code

* fix(behavior_path_planner): fix for turn signal

Signed-off-by: Fumiya Watanabe <[email protected]>

Signed-off-by: Fumiya Watanabe <[email protected]>

* chore(rtc_manager_rviz_plugin): add code owner (#2792)

Signed-off-by: tomoya.kimura <[email protected]>

* feat(rtc_manager_rviz_plugin): add the number of rtc status (#2791)

* feat(rtc_manager_rviz_plugin): add the number of rtc status

Signed-off-by: taikitanaka3 <[email protected]>

* chore: simplify layout

Signed-off-by: taikitanaka3 <[email protected]>

---------

Signed-off-by: taikitanaka3 <[email protected]>
Co-authored-by: Tomoya Kimura <[email protected]>

* feat(automatic_goal): add automatic goal rviz plugin (#3031)

* add first version automatic_goal plugin

Signed-off-by: Dawid Moszyński <[email protected]>

* feat(automatic_goal): extract automatic_goal_sender, add logging achieved goals

Signed-off-by: Dawid Moszyński <[email protected]>

* doc(automatic_goal): append README

Signed-off-by: Dawid Moszyński <[email protected]>

* ref(automatic_goal): apply pre-commity, fix depend

Signed-off-by: Dawid Moszyński <[email protected]>

* fix(automatic_goal): fix warnings - treated as errors

Signed-off-by: Dawid Moszyński <[email protected]>

* ref(automatic_goal): add author, apply clang-tidy hints

Signed-off-by: Dawid Moszyński <[email protected]>

* ref(automatic_goal): add maintainer, change  year

Signed-off-by: Dawid Moszyński <[email protected]>

* ref(automatic_goal): fix package.xml order

Signed-off-by: Dawid Moszyński <[email protected]>

* ref(automatic_goal): names, initializations, main except

Signed-off-by: Dawid Moszyński <[email protected]>

* fix(automatic_goal): change path home->tmp

Signed-off-by: Dawid Moszyński <[email protected]>

* fix(automatic_goal): fix bad string init, expand readme

Signed-off-by: Dawid Moszyński <[email protected]>

* fix(automatic_goal): fix name

Signed-off-by: Dawid Moszyński <[email protected]>

---------

Signed-off-by: Dawid Moszyński <[email protected]>

* feat(rtc_manager_rviz_plugin): add avoidance by lc (#3118)

Signed-off-by: satoshi-ota <[email protected]>

* fix(tier4_screen_capture_rviz_plugin): fix extra/missing naming components (#3207)

Signed-off-by: Mehmet Dogru <[email protected]>

* chore: sync files (#3227)

* chore: sync files

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

* style(pre-commit): autofix

---------

Signed-off-by: GitHub <[email protected]>
Co-authored-by: kenji-miyake <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat: change external lane change rtc name (#3259)

* feat: change external lane change rtc name

Signed-off-by: Takayuki Murooka <[email protected]>

* update config

Signed-off-by: Takayuki Murooka <[email protected]>

---------

Signed-off-by: Takayuki Murooka <[email protected]>

* feat(behavior_velocity_planner::intersection): add occlusion detection feature (#3458)

* migrated

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* WIP

Signed-off-by: Mamoru Sobue <[email protected]>

* IntersectionModuleManager own one rtc_interface for intersection_occlusion

Signed-off-by: Mamoru Sobue <[email protected]>

* divide occlusion safety and activated

Signed-off-by: Mamoru Sobue <[email protected]>

* fixed to update occlusion cooperate status at construction

Signed-off-by: Mamoru Sobue <[email protected]>

* fixed getOcclusionFirstStopSafety()

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* fixed not to show both intersection and intersection_occlusion  after passed 1st stop line

Signed-off-by: Mamoru Sobue <[email protected]>

* fixed the intersection_occlusion/inersection stop position afte r CLEARED

Signed-off-by: Mamoru Sobue <[email protected]>

* if occlusion cleared when eog is before 1st stop line, set stop line to 1st stop line and clear prev_occlusion_stop_line_pose_

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* (misc) fix viz, sync param

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* fixed vehicle footprint offset calculation

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* add occcupancy_grid_map method/param var to launcher

Signed-off-by: Mamoru Sobue <[email protected]>

* migrated latest

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* use static pass judge line

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* removed some params

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* organized param

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* add occlusion enable flag

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* revert occupancy grid settings in this PR

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* remove comment

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* fixed pass judge line collision detection to original

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* style(pre-commit): autofix

* use vehicle_length for static pass judge line

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* fixed virtual wall marker

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---------

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Signed-off-by: Mamoru Sobue <[email protected]>
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* fix(rtc_manager_rviz_plugin): update panel visualization properly (#3517)

Signed-off-by: tomoya.kimura <[email protected]>

* refactor(behavior_path_planner): rename pull_over to goal_planner (#3501)

Signed-off-by: kosuke55 <[email protected]>

* build: mark autoware_cmake as <buildtool_depend> (#3616)

* build: mark autoware_cmake as <buildtool_depend>

with <build_depend>, autoware_cmake is automatically exported with ament_target_dependencies() (unecessary)

Signed-off-by: Vincent Richard <[email protected]>

* style(pre-commit): autofix

* chore: fix pre-commit errors

Signed-off-by: Kenji Miyake <[email protected]>

---------

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* build(iron): remove rmw_qos_profile_t (#3809)

Signed-off-by: wep21 <[email protected]>

* refactor(start_planner): rename pull out to start planner (#3908)

Signed-off-by: kosuke55 <[email protected]>

* fix(accel_brake_map_calibrator_button_panel): fix calibration service name (#4539)

* fix(accel_brake_map_calibrator_button_panel): fix calibration service name

Signed-off-by: tomoya.kimura <[email protected]>

* misc

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---------

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* feat(rviz_plugin): add target object type display (#4855)

* add common/tier4_target_object_type_rviz_plugin

Signed-off-by: Takamasa Horibe <[email protected]>

* fix format

Signed-off-by: Takamasa Horibe <[email protected]>

* update color

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* update

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* add readme

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* Update common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp

Co-authored-by: Satoshi OTA <[email protected]>

* Update common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.hpp

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* remove unused depend

Signed-off-by: Takamasa Horibe <[email protected]>

---------

Signed-off-by: Takamasa Horibe <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>

* fix(rtc_manager_panel): fix panel chattering (#4988)

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* build(tier4_target_object_type_rviz_plugin): add missing cv_bridge dependency (#5000)

Signed-off-by: Esteve Fernandez <[email protected]>

* feat(logging_level_configure): add rviz plugin to change logging level (#5112)

* feat(logging_level_configure): add rviz plugin to change logging level

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* change file names

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* move initialization code from constructor to onInitialize

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* add maintainer

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* add maintainer

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* fix include

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---------

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* feat(logger_level_reconfigure_plugin): use node interface and some cosmetic updates (#5204)

* use node service

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* enable yaml configuration

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* update yaml loading

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* make it scrollable

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* change function order

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* change color for level

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* fix depend

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* Update common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp

Co-authored-by: Kosuke Takeuchi <[email protected]>

* Update common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp

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Original file line number Diff line number Diff line change
Expand Up @@ -84,16 +84,16 @@ def on_timer(self):
if objects_msg:
objects_msg.header.stamp = timestamp
if self.args.detected_object:
if not self.ego_pose:
print("No ego pose found.")
if not self.ego_odom:
print("No ego odom found.")
return

ego_odom = self.find_ego_odom_by_timestamp(self.bag_timestamp)
if not ego_odom:
return
log_ego_pose = ego_odom.pose.pose

translate_objects_coordinate(self.ego_pose, log_ego_pose, objects_msg)
translate_objects_coordinate(self.ego_odom.pose.pose, log_ego_pose, objects_msg)
self.objects_pub.publish(objects_msg)

# traffic signals
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,7 @@ def __init__(self, args, name):
super().__init__(name)
self.args = args

self.ego_pose = None
self.ego_odom = None
self.rosbag_objects_data = []
self.rosbag_ego_odom_data = []
self.rosbag_traffic_signals_data = []
Expand Down Expand Up @@ -110,7 +110,7 @@ def __init__(self, args, name):
time.sleep(1.0)

def on_odom(self, odom):
self.ego_pose = odom.pose.pose
self.ego_odom = odom

def load_rosbag(self, rosbag2_path: str):
reader = open_reader(str(rosbag2_path))
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Original file line number Diff line number Diff line change
Expand Up @@ -26,33 +26,15 @@
from utils import create_empty_pointcloud
from utils import translate_objects_coordinate

dist_eps = 1e-3 # (meters)


class PerceptionReproducer(PerceptionReplayerCommon):
def __init__(self, args):
self.rosbag_ego_odom_search_radius = (
args.search_radius
) # (m) the range of the ego odom to search,
self.ego_odom_search_radius = (
self.rosbag_ego_odom_search_radius
) # it may be set by an individual parameter.

self.reproduce_cool_down = (
args.reproduce_cool_down if args.search_radius != 0.0 else 0.0
) # (sec) the cool down time for republishing published data, please make sure that it's greater than the ego's stopping time.
self.rosbag_ego_odom_search_radius = args.search_radius
self.ego_odom_search_radius = self.rosbag_ego_odom_search_radius
self.reproduce_cool_down = args.reproduce_cool_down if args.search_radius != 0.0 else 0.0

super().__init__(args, "perception_reproducer")

self.reproduce_sequence_indices = deque() # contains ego_odom_idx
self.cool_down_indices = deque() # contains ego_odom_idx
self.ego_odom_id2last_published_timestamp = {} # for checking last published timestamp.

self.prev_ego_pos = None
self.prev_ego_odom_msg = None
self.perv_objects_msg = None
self.prev_traffic_signals_msg = None

self.stopwatch = StopWatch(self.args.verbose) # for debug

# refresh cool down for setting initial pose in psim.
Expand All @@ -63,17 +45,27 @@ def __init__(self, args):
# to make some data to accelerate computation
self.preprocess_data()

self.reproduce_sequence_indices = deque() # contains ego_odom_idx
self.cool_down_indices = deque() # contains ego_odom_idx
self.ego_odom_id2last_published_timestamp = {} # for checking last published timestamp.
self.last_sequenced_ego_pose = None

pose_timestamp, self.prev_ego_odom_msg = self.rosbag_ego_odom_data[0]
self.perv_objects_msg, self.prev_traffic_signals_msg = self.find_topics_by_timestamp(
pose_timestamp
)
self.memorized_original_objects_msg = (
self.memorized_noised_objects_msg
) = self.perv_objects_msg

# start main timer callback
time_diffs = []
prev_stamp = self.rosbag_ego_odom_data[0][0]
for stamp, _ in self.rosbag_ego_odom_data[1:]:
time_diff = (stamp - prev_stamp) / 1e9
time_diffs.append(time_diff)
prev_stamp = stamp

average_ego_odom_interval = sum(time_diffs) / len(time_diffs)
# slow down the publication speed.
average_ego_odom_interval *= args.publishing_speed_factor

average_ego_odom_interval = np.mean(
[
(self.rosbag_ego_odom_data[i][0] - self.rosbag_ego_odom_data[i - 1][0]) / 1e9
for i in range(1, len(self.rosbag_ego_odom_data))
]
)
self.timer = self.create_timer(average_ego_odom_interval, self.on_timer)

# kill perception process to avoid a conflict of the perception topics
Expand Down Expand Up @@ -105,30 +97,34 @@ def on_timer(self):
pointcloud_msg = create_empty_pointcloud(timestamp_msg)
self.pointcloud_pub.publish(pointcloud_msg)

if not self.ego_pose:
print("No ego pose found.")
if not self.ego_odom:
print("No ego odom found.")
return

# Update reproduce list if ego_pos is moved.
if (
self.ego_pose is None
or self.prev_ego_pos is None
or (
(self.ego_pose.position.x - self.prev_ego_pos.position.x) ** 2
+ (self.ego_pose.position.y - self.prev_ego_pos.position.y) ** 2
ego_pose = self.ego_odom.pose.pose
dist_moved = (
np.sqrt(
(ego_pose.position.x - self.last_sequenced_ego_pose.position.x) ** 2
+ (ego_pose.position.y - self.last_sequenced_ego_pose.position.y) ** 2
)
> dist_eps**2
):
if self.last_sequenced_ego_pose
else 999
)

# Update the reproduce sequence if the distance moved is greater than the search radius.
if dist_moved > self.ego_odom_search_radius:
self.last_sequenced_ego_pose = ego_pose

# find the nearest ego odom by simulation observation
self.stopwatch.tic("find_nearest_ego_odom_by_observation")
nearby_ego_odom_indies = self.find_nearby_ego_odom_indies(
[self.ego_pose], self.ego_odom_search_radius
[ego_pose], self.ego_odom_search_radius
)
nearby_ego_odom_indies = [
self.rosbag_ego_odom_data[idx][1].pose.pose for idx in nearby_ego_odom_indies
]
if not nearby_ego_odom_indies:
nearest_ego_odom_ind = self.find_nearest_ego_odom_index(self.ego_pose)
nearest_ego_odom_ind = self.find_nearest_ego_odom_index(ego_pose)
nearby_ego_odom_indies += [
self.rosbag_ego_odom_data[nearest_ego_odom_ind][1].pose.pose
]
Expand Down Expand Up @@ -157,78 +153,80 @@ def on_timer(self):
]
ego_odom_indices = sorted(ego_odom_indices)
self.reproduce_sequence_indices = deque(ego_odom_indices)

self.stopwatch.toc("update reproduce_sequence")

self.prev_ego_pos = self.ego_pose
if self.args.verbose:
print("reproduce_sequence_indices: ", list(self.reproduce_sequence_indices)[:20])

# Get messages
repeat_flag = len(self.reproduce_sequence_indices) == 0

# get data to publish
repeat_trigger = len(self.reproduce_sequence_indices) == 0
if not repeat_trigger: # pop data from reproduce_sequence if sequence is not empty.
# Add an additional constraint to avoid publishing too fast when there is a speed gap between the ego and the rosbag's ego when ego is departing/stopping while rosbag's ego is moving.
if not repeat_flag:
ego_speed = np.sqrt(
self.ego_odom.twist.twist.linear.x**2 + self.ego_odom.twist.twist.linear.y**2
)
ego_odom_idx = self.reproduce_sequence_indices[0]
_, ego_odom_msg = self.rosbag_ego_odom_data[ego_odom_idx]
ego_rosbag_speed = np.sqrt(
ego_odom_msg.twist.twist.linear.x**2 + ego_odom_msg.twist.twist.linear.y**2
)

ego_rosbag_dist = np.sqrt(
(ego_pose.position.x - ego_odom_msg.pose.pose.position.x) ** 2
+ (ego_pose.position.y - ego_odom_msg.pose.pose.position.y) ** 2
)
repeat_flag = ego_rosbag_speed > ego_speed * 5 and ego_rosbag_dist > 1.0
# set the speed threshold to many (5) times then ego_speed because this constraint is mainly for departing/stopping (ego speed is close to 0).

if not repeat_flag:
self.stopwatch.tic("find_topics_by_timestamp")
ego_odom_idx = self.reproduce_sequence_indices.popleft()
# extract messages by the nearest ego odom timestamp
pose_timestamp, ego_odom_msg = self.rosbag_ego_odom_data[ego_odom_idx]
# extract message by the nearest ego odom timestamp
self.stopwatch.tic("find_topics_by_timestamp")
objects_msg, traffic_signals_msg = self.find_topics_by_timestamp(pose_timestamp)
self.stopwatch.toc("find_topics_by_timestamp")
# if self.args.verbose:
# print("reproduce_sequence_indices: ", list(self.reproduce_sequence_indices)[:20])

else: # get perv data to publish if reproduce_sequence is empty.
# update cool down info.
self.ego_odom_id2last_published_timestamp[ego_odom_idx] = timestamp
self.cool_down_indices.append(ego_odom_idx)
else:
ego_odom_msg = self.prev_ego_odom_msg
objects_msg = self.perv_objects_msg
traffic_signals_msg = self.prev_traffic_signals_msg

# transform and publish current data.
# Transform and publish messages.
self.stopwatch.tic("transform and publish")

# ego odom
self.recorded_ego_pub.publish(ego_odom_msg)

if ego_odom_msg:
self.prev_ego_odom_msg = ego_odom_msg
self.recorded_ego_pub.publish(ego_odom_msg)
# objects
objects_msg = objects_msg if objects_msg else self.perv_objects_msg
if objects_msg:
self.perv_objects_msg = objects_msg
objects_msg.header.stamp = timestamp_msg

# add noise to repeat published objects
if repeat_flag and self.args.noise:
objects_msg = self.add_perception_noise(objects_msg)

if self.args.detected_object:
# copy the messages
self.stopwatch.tic("message deepcopy")
objects_msg_copied = pickle.loads(
pickle.dumps(objects_msg)
) # this is x5 faster than deepcopy
self.stopwatch.toc("message deepcopy")

log_ego_pose = ego_odom_msg.pose.pose
translate_objects_coordinate(self.ego_pose, log_ego_pose, objects_msg_copied)
else:
objects_msg_copied = objects_msg
self.objects_pub.publish(objects_msg_copied)
objects_msg = self.copy_message(objects_msg)
translate_objects_coordinate(ego_pose, ego_odom_msg.pose.pose, objects_msg)

self.objects_pub.publish(objects_msg)

# traffic signals
traffic_signals_msg = (
traffic_signals_msg if traffic_signals_msg else self.prev_traffic_signals_msg
)
if traffic_signals_msg:
traffic_signals_msg.stamp = timestamp_msg
self.traffic_signals_pub.publish(traffic_signals_msg)
self.prev_traffic_signals_msg = traffic_signals_msg
elif self.prev_traffic_signals_msg:
self.prev_traffic_signals_msg.stamp = timestamp_msg
self.traffic_signals_pub.publish(traffic_signals_msg)

self.traffic_signals_pub.publish(self.prev_traffic_signals_msg)
self.stopwatch.toc("transform and publish")

if not repeat_trigger:
# save data for repeat publication.
self.prev_ego_odom_msg = ego_odom_msg
self.perv_objects_msg = (
objects_msg if objects_msg is not None else self.perv_objects_msg
)
self.prev_traffic_signals_msg = (
traffic_signals_msg
if traffic_signals_msg is not None
else self.prev_traffic_signals_msg
)

# update cool down info.
self.ego_odom_id2last_published_timestamp[ego_odom_idx] = timestamp
self.cool_down_indices.append(ego_odom_idx)

self.stopwatch.toc("total on_timer")

def find_nearest_ego_odom_index(self, ego_pose):
Expand All @@ -247,10 +245,47 @@ def find_nearby_ego_odom_indies(self, ego_poses: list, search_radius: float):

return nearby_indices

def copy_message(self, msg):
self.stopwatch.tic("message deepcopy")
objects_msg_copied = pickle.loads(pickle.dumps(msg)) # this is x5 faster than deepcopy
self.stopwatch.toc("message deepcopy")
return objects_msg_copied

def add_perception_noise(
self, objects_msg, update_rate=0.03, x_noise_std=0.1, y_noise_std=0.05
):
if self.memorized_original_objects_msg != objects_msg:
self.memorized_noised_objects_msg = self.memorized_original_objects_msg = objects_msg

if np.random.rand() < update_rate:
self.stopwatch.tic("add noise")
self.memorized_noised_objects_msg = self.copy_message(
self.memorized_original_objects_msg
)
for obj in self.memorized_noised_objects_msg.objects:
noise_x = np.random.normal(0, x_noise_std)
noise_y = np.random.normal(0, y_noise_std)
if self.args.detected_object or self.args.tracked_object:
obj.kinematics.pose_with_covariance.pose.position.x += noise_x
obj.kinematics.pose_with_covariance.pose.position.y += noise_y
else:
obj.kinematics.initial_pose_with_covariance.pose.position.x += noise_x
obj.kinematics.initial_pose_with_covariance.pose.position.y += noise_y
self.stopwatch.toc("add noise")

return self.memorized_noised_objects_msg


if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("-b", "--bag", help="rosbag", default=None)
parser.add_argument(
"-n",
"--noise",
help="apply perception noise to the objects when publishing repeated messages",
action="store_true",
default=True,
)
parser.add_argument(
"-d", "--detected-object", help="publish detected object", action="store_true"
)
Expand All @@ -273,16 +308,10 @@ def find_nearby_ego_odom_indies(self, ego_poses: list, search_radius: float):
parser.add_argument(
"-c",
"--reproduce-cool-down",
help="The cool down time for republishing published messages (default is 80.0 seconds)",
help="The cool down time for republishing published messages (default is 80.0 seconds), please make sure that it's greater than the ego's stopping time.",
type=float,
default=80.0,
)
parser.add_argument(
"--publishing-speed-factor",
type=float,
default=1.2,
help="A factor to slow down the publication speed.",
)

args = parser.parse_args()

Expand Down

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