diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml index 658a968..339f130 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/common/planning_validator/planning_validator.param.yaml @@ -18,7 +18,7 @@ thresholds: interval: 100.0 relative_angle: 2.0 # (= 115 degree) - curvature: 1.0 + curvature: 100.0 lateral_acc: 9.8 longitudinal_max_acc: 9.8 longitudinal_min_acc: -9.8 diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index c14f59f..018fbd5 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -2,16 +2,16 @@ /**: ros__parameters: avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] + resample_interval_for_planning: 0.1 # [m] + resample_interval_for_output: 0.5 # [m] detection_area_right_expand_dist: 0.0 # [m] - detection_area_left_expand_dist: 1.0 # [m] + detection_area_left_expand_dist: 0.0 # [m] drivable_area_right_bound_offset: 0.0 # [m] drivable_area_left_bound_offset: 0.0 # [m] - object_envelope_buffer: 0.3 # [m] + object_envelope_buffer: 0.0 # [m] # avoidance module common setting - enable_bound_clipping: false + enable_bound_clipping: true enable_avoidance_over_same_direction: true enable_avoidance_over_opposite_direction: true enable_update_path_when_object_is_gone: false @@ -30,8 +30,8 @@ truck: true bus: true trailer: true - unknown: false - bicycle: false + unknown: true + bicycle: true motorcycle: false pedestrian: false @@ -51,7 +51,7 @@ object_check_shiftable_ratio: 0.6 # [-] object_check_min_road_shoulder_width: 0.5 # [m] # lost object compensation - object_last_seen_threshold: 2.0 + object_last_seen_threshold: 0.0 # For safety check safety_check: diff --git a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz index ac3d368..16e440e 100644 --- a/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz +++ b/docker/aichallenge/aichallenge_ws/src/aichallenge_submit/autoware_launch/autoware_launch/rviz/autoware.rviz @@ -8,8 +8,6 @@ Panels: - /Perception1 - /Perception1/Segmentation1 - /Perception1/ObjectRecognition1 - - /Perception1/ObjectRecognition1/Detection1 - - /Perception1/ObjectRecognition1/Detection1/DetectedObjects1/CAR1 - /Perception1/ObjectRecognition1/Tracking1/TrackedObjects1 - /Planning1/ScenarioPlanning1 - /Behavior_Path1/View Path1 @@ -727,7 +725,7 @@ Visualization Manager: Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects Display Acceleration: true - Display Label: false + Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true Display Predicted Paths: true @@ -741,6 +739,8 @@ Visualization Manager: Color: 119; 11; 32 Name: DetectedObjects Namespaces: + + label: true shape: true twist: true velocity: true @@ -794,6 +794,7 @@ Visualization Manager: Color: 119; 11; 32 Name: TrackedObjects Namespaces: + acceleration: true label: true position covariance: true @@ -822,7 +823,8 @@ Visualization Manager: Color: 255; 255; 255 Value: true Visualization Type: Normal - Enabled: true + + Enabled: false Name: Tracking - Class: rviz_common/Group Displays: @@ -2144,7 +2146,8 @@ Visualization Manager: Name: Control - Class: rviz_plugins/Path Color Border Vel Max: 3 - Enabled: true + + Enabled: false Name: Behavior_Path Topic: Depth: 5 @@ -2153,7 +2156,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path - Value: true + Value: false View Drivable Area: Alpha: 0.9990000128746033 Color: 0; 148; 205 @@ -2319,7 +2322,7 @@ Visualization Manager: Value: true Views: Current: - Angle: 0.43000009655952454 + Angle: 0.4750000238418579 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -2329,11 +2332,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 55.90018844604492 + Scale: 85.11080169677734 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 53.38139343261719 - Y: 13.1110258102417 + X: 45.90351104736328 + Y: 10.50330924987793 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -2382,7 +2385,7 @@ Window Geometry: Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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 + QMainWindow State: 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 RecognitionResultOnImage: collapsed: false Selection: @@ -2392,5 +2395,5 @@ Window Geometry: Views: collapsed: false Width: 1436 - X: 2298 + X: 2404 Y: 27 diff --git a/docker/aichallenge/do.bash b/docker/aichallenge/do.bash index 52e46aa..40d869c 100644 --- a/docker/aichallenge/do.bash +++ b/docker/aichallenge/do.bash @@ -1,3 +1,4 @@ #! /usr/bin/bash + export ROS_LOCALHOST_ONLY=1 bash /aichallenge/run.sh & /aichallenge/AWSIM/AWSIM.x86_64 diff --git a/docker/aichallenge/lidar_centerpoint_visualizer.py b/docker/aichallenge/lidar_centerpoint_visualizer.py new file mode 100644 index 0000000..5a11353 --- /dev/null +++ b/docker/aichallenge/lidar_centerpoint_visualizer.py @@ -0,0 +1,55 @@ +#!/usr/bin/env python +# Copyright 2022 TIER IV, Inc. All rights reserved. +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import os +import time + +import open3d as o3d +import rclpy +from rclpy.node import Node + + +def main(args=None): + rclpy.init(args=args) + + node = Node("lidar_centerpoint_visualizer") + node.declare_parameter("pcd_path", rclpy.Parameter.Type.STRING) + node.declare_parameter("detections_path", rclpy.Parameter.Type.STRING) + + pcd_path = node.get_parameter("pcd_path").get_parameter_value().string_value + detections_path = node.get_parameter("detections_path").get_parameter_value().string_value + + while not os.path.exists(pcd_path) and not os.path.exists(detections_path): + time.sleep(1.0) + + if not rclpy.ok(): + rclpy.shutdown() + return + + mesh = o3d.io.read_triangle_mesh(detections_path) + pcd = o3d.io.read_point_cloud(pcd_path) + + mesh_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=1.0, origin=[0, 0, 0]) + + detection_lines = o3d.geometry.LineSet.create_from_triangle_mesh(mesh) + detection_lines.paint_uniform_color([1.0, 0.0, 1.0]) + + o3d.visualization.draw_geometries([mesh_frame, pcd, detection_lines]) + + rclpy.shutdown() + + +if __name__ == "__main__": + main()