From 07c5e62cb77b115b613f30a74f7d8d6ba99321ae Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Mon, 15 May 2023 12:26:23 +0900 Subject: [PATCH 01/30] feat: add XT32 sensor model Signed-off-by: 1222-takeshi --- aip_x1_1_description/CMakeLists.txt | 11 + .../config/sensor_kit_calibration.yaml | 22 + .../config/sensors_calibration.yaml | 8 + aip_x1_1_description/package.xml | 18 + aip_x1_1_description/urdf/sensor_kit.xacro | 66 +++ aip_x1_1_description/urdf/sensors.xacro | 21 + aip_x1_1_launch/CMakeLists.txt | 15 + .../sensor_kit.param.yaml | 58 ++ .../elevation_map_parameters.yaml | 30 + .../ground_segmentation.param.yaml | 51 ++ .../ground_segmentation.launch.py | 533 ++++++++++++++++++ aip_x1_1_launch/launch/imu.launch.xml | 29 + aip_x1_1_launch/launch/lidar.launch.xml | 53 ++ .../launch/pandar_node_container.launch.py | 184 ++++++ .../launch/pointcloud_preprocessor.launch.py | 101 ++++ aip_x1_1_launch/launch/sensing.launch.xml | 25 + .../launch/topic_state_monitor.launch.py | 155 +++++ .../launch/velodyne_VLP16.launch.xml | 41 ++ .../launch/velodyne_node_container.launch.py | 233 ++++++++ aip_x1_1_launch/package.xml | 36 ++ 20 files changed, 1690 insertions(+) create mode 100644 aip_x1_1_description/CMakeLists.txt create mode 100644 aip_x1_1_description/config/sensor_kit_calibration.yaml create mode 100644 aip_x1_1_description/config/sensors_calibration.yaml create mode 100644 aip_x1_1_description/package.xml create mode 100644 aip_x1_1_description/urdf/sensor_kit.xacro create mode 100644 aip_x1_1_description/urdf/sensors.xacro create mode 100644 aip_x1_1_launch/CMakeLists.txt create mode 100644 aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml create mode 100644 aip_x1_1_launch/config/ground_segmentation/elevation_map_parameters.yaml create mode 100644 aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml create mode 100644 aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py create mode 100644 aip_x1_1_launch/launch/imu.launch.xml create mode 100644 aip_x1_1_launch/launch/lidar.launch.xml create mode 100644 aip_x1_1_launch/launch/pandar_node_container.launch.py create mode 100644 aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py create mode 100644 aip_x1_1_launch/launch/sensing.launch.xml create mode 100644 aip_x1_1_launch/launch/topic_state_monitor.launch.py create mode 100644 aip_x1_1_launch/launch/velodyne_VLP16.launch.xml create mode 100644 aip_x1_1_launch/launch/velodyne_node_container.launch.py create mode 100644 aip_x1_1_launch/package.xml diff --git a/aip_x1_1_description/CMakeLists.txt b/aip_x1_1_description/CMakeLists.txt new file mode 100644 index 00000000..9e5669bf --- /dev/null +++ b/aip_x1_1_description/CMakeLists.txt @@ -0,0 +1,11 @@ +cmake_minimum_required(VERSION 3.5) +project(aip_x1_1_description) + +find_package(ament_cmake_auto REQUIRED) + +ament_auto_find_build_dependencies() + +ament_auto_package(INSTALL_TO_SHARE + urdf + config +) diff --git a/aip_x1_1_description/config/sensor_kit_calibration.yaml b/aip_x1_1_description/config/sensor_kit_calibration.yaml new file mode 100644 index 00000000..e8955379 --- /dev/null +++ b/aip_x1_1_description/config/sensor_kit_calibration.yaml @@ -0,0 +1,22 @@ +sensor_kit_base_link: + velodyne_top_base_link: + x: 0.000 + y: 0.000 + z: 0.000 + roll: 0.000 + pitch: 0.000 + yaw: 0.000 + pandar_xt32_front_center_base_link: + x: 1.130 + y: 0.038 + z: -1.400 + roll: -0.000 + pitch: -0.00 + yaw: 1.6225 + tamagawa/imu_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 3.14159 + pitch: 0.0 + yaw: 0.0 diff --git a/aip_x1_1_description/config/sensors_calibration.yaml b/aip_x1_1_description/config/sensors_calibration.yaml new file mode 100644 index 00000000..796672f1 --- /dev/null +++ b/aip_x1_1_description/config/sensors_calibration.yaml @@ -0,0 +1,8 @@ +base_link: + sensor_kit_base_link: + x: 0.555 + y: 0.000 + z: 1.810 + roll: 0.000 + pitch: 0.000 + yaw: 0.000 diff --git a/aip_x1_1_description/package.xml b/aip_x1_1_description/package.xml new file mode 100644 index 00000000..382b29e2 --- /dev/null +++ b/aip_x1_1_description/package.xml @@ -0,0 +1,18 @@ + + + aip_x1_1_description + 0.1.0 + The aip_x1_1_description package + + Yohei Mishina + Apache 2 + + ament_cmake_auto + + pandar_description + velodyne_description + + + ament_cmake + + diff --git a/aip_x1_1_description/urdf/sensor_kit.xacro b/aip_x1_1_description/urdf/sensor_kit.xacro new file mode 100644 index 00000000..66508144 --- /dev/null +++ b/aip_x1_1_description/urdf/sensor_kit.xacro @@ -0,0 +1,66 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_1_description/urdf/sensors.xacro b/aip_x1_1_description/urdf/sensors.xacro new file mode 100644 index 00000000..6690fb8f --- /dev/null +++ b/aip_x1_1_description/urdf/sensors.xacro @@ -0,0 +1,21 @@ + + + + + + + + + + + + + diff --git a/aip_x1_1_launch/CMakeLists.txt b/aip_x1_1_launch/CMakeLists.txt new file mode 100644 index 00000000..707bd8ce --- /dev/null +++ b/aip_x1_1_launch/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) +project(aip_x1_1_launch) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + launch + config +) diff --git a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml new file mode 100644 index 00000000..7c6f52f5 --- /dev/null +++ b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -0,0 +1,58 @@ +/**: + ros__parameters: + sensing: + type: diagnostic_aggregator/AnalyzerGroup + path: sensing + analyzers: + lidar: + type: diagnostic_aggregator/AnalyzerGroup + path: lidar + analyzers: + velodyne: + type: diagnostic_aggregator/AnalyzerGroup + path: velodyne + analyzers: + health_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: health_monitoring + analyzers: + connection: + type: diagnostic_aggregator/GenericAnalyzer + path: connection + contains: [": velodyne_connection"] + timeout: 3.0 + + temperature: + type: diagnostic_aggregator/GenericAnalyzer + path: temperature + contains: [": velodyne_temperature"] + timeout: 3.0 + + rpm: + type: diagnostic_aggregator/GenericAnalyzer + path: rpm + contains: [": velodyne_rpm"] + timeout: 3.0 + pandar: + type: diagnostic_aggregator/AnalyzerGroup + path: pandar + analyzers: + health_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: health_monitoring + analyzers: + connection: + type: diagnostic_aggregator/GenericAnalyzer + path: connection + contains: [": pandar_connection"] + timeout: 1.0 + temperature: + type: diagnostic_aggregator/GenericAnalyzer + path: temperature + contains: [": pandar_temperature"] + timeout: 1.0 + ptp: + type: diagnostic_aggregator/GenericAnalyzer + path: ptp + contains: [": pandar_ptp"] + timeout: 1.0 diff --git a/aip_x1_1_launch/config/ground_segmentation/elevation_map_parameters.yaml b/aip_x1_1_launch/config/ground_segmentation/elevation_map_parameters.yaml new file mode 100644 index 00000000..781ccb80 --- /dev/null +++ b/aip_x1_1_launch/config/ground_segmentation/elevation_map_parameters.yaml @@ -0,0 +1,30 @@ +pcl_grid_map_extraction: + num_processing_threads: 12 + cloud_transform: + translation: + x: 0.0 + y: 0.0 + z: 0.0 + rotation: # intrinsic rotation X-Y-Z (r-p-y)sequence + r: 0.0 + p: 0.0 + y: 0.0 + cluster_extraction: + cluster_tolerance: 0.2 + min_num_points: 3 + max_num_points: 1000000 + outlier_removal: + is_remove_outliers: false + mean_K: 10 + stddev_threshold: 1.0 + downsampling: + is_downsample_cloud: false + voxel_size: + x: 0.02 + y: 0.02 + z: 0.02 + grid_map: + min_num_points_per_cell: 3 + resolution: 0.3 + height_type: 1 + height_thresh: 1.0 diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml new file mode 100644 index 00000000..3bd7b101 --- /dev/null +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -0,0 +1,51 @@ +/**: + ros__parameters: + additional_lidars: [] + ransac_input_topics: [ + "/sensing/lidar/front_center/outlier_filtered/pointcloud" + ] + use_single_frame_filter: True + use_time_series_filter: False + + common_crop_box_filter: + parameters: + min_x: -50.0 + max_x: 100.0 + min_y: -50.0 + max_y: 50.0 + min_z: -0.5 + negative: False + + common_ground_filter: + plugin: "ground_segmentation::RayGroundFilterComponent" + parameters: + initial_max_slope: 10.0 + general_max_slope: 10.0 + local_max_slope: 10.0 + min_height_threshold: 0.3 + radial_divider_angle: 1.0 + concentric_divider_distance: 0.0 + use_vehicle_footprint: True + + short_height_obstacle_detection_area_filter: + parameters: + min_x: 0.0 + max_x: 19.6 # max_x: 18.0m + base_link2livox_front_center distance 1.6m + min_y: -4.0 + max_y: 4.0 + min_z: -0.5 + max_z: 0.5 + negative: False + + ransac_ground_filter: + parameters: + outlier_threshold: 0.1 + min_points: 400 + min_inliers: 200 + max_iterations: 50 + height_threshold: 0.15 + plane_slope_threshold: 10.0 + voxel_size_x: 0.2 + voxel_size_y: 0.2 + voxel_size_z: 0.2 + debug: False diff --git a/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py b/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py new file mode 100644 index 00000000..a3687bec --- /dev/null +++ b/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py @@ -0,0 +1,533 @@ +# Copyright 2020 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 + +from ament_index_python.packages import get_package_share_directory +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch.substitutions import PathJoinSubstitution +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode +from launch_ros.substitutions import FindPackageShare +import yaml + + +class GroundSegmentationPipeline: + def __init__(self, context): + self.context = context + self.vehicle_info = self.get_vehicle_info() + ground_segmentation_param_path = os.path.join( + get_package_share_directory("aip_x1_1_launch"), + "config/ground_segmentation/ground_segmentation.param.yaml", + ) + with open(ground_segmentation_param_path, "r") as f: + self.ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"] + + self.single_frame_obstacle_seg_output = ( + "/perception/obstacle_segmentation/single_frame/pointcloud_raw" + ) + self.output_topic = "/perception/obstacle_segmentation/pointcloud" + self.use_single_frame_filter = self.ground_segmentation_param["use_single_frame_filter"] + self.use_time_series_filter = self.ground_segmentation_param["use_time_series_filter"] + + def get_vehicle_info(self): + # TODO: need to rename key from "ros_params" to "global_params" after Humble + gp = self.context.launch_configurations.get("ros_params", {}) + p = {} + p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] + p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] + p["min_longitudinal_offset"] = -gp["rear_overhang"] + p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"] + p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"]) + p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"] + p["min_height_offset"] = 0.0 + p["max_height_offset"] = gp["vehicle_height"] + return p + + def get_vehicle_mirror_info(self): + path = LaunchConfiguration("vehicle_mirror_param_file").perform(self.context) + with open(path, "r") as f: + p = yaml.safe_load(f) + return p + + def create_additional_pipeline(self, lidar_name): + components = [] + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name=f"{lidar_name}_crop_box_filter", + remappings=[ + ("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"), + ("output", f"{lidar_name}/range_cropped/pointcloud"), + ], + parameters=[ + { + "input_frame": LaunchConfiguration("base_frame"), + "output_frame": LaunchConfiguration("base_frame"), + "min_z": self.vehicle_info["min_height_offset"], + "max_z": self.vehicle_info["max_height_offset"], + }, + self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"], + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="ground_segmentation", + plugin=self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["plugin"], + name=f"{lidar_name}_ground_filter", + remappings=[ + ("input", f"{lidar_name}/range_cropped/pointcloud"), + ("output", f"{lidar_name}/pointcloud"), + ], + parameters=[ + self.ground_segmentation_param[f"{lidar_name}_ground_filter"]["parameters"] + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + return components + + def create_ransac_pipeline(self): + components = [] + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name="short_height_obstacle_detection_area_filter", + namespace="plane_fitting", + remappings=[ + ("input", self.ground_segmentation_param["ransac_input_topics"]), + ("output", "detection_area/pointcloud"), + ], + parameters=[ + { + "input_frame": LaunchConfiguration("base_frame"), + "output_frame": LaunchConfiguration("base_frame"), + }, + self.ground_segmentation_param["short_height_obstacle_detection_area_filter"][ + "parameters" + ], + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::Lanelet2MapFilterComponent", + name="vector_map_filter", + namespace="plane_fitting", + remappings=[ + ("input/pointcloud", "detection_area/pointcloud"), + ("input/vector_map", "/map/vector_map"), + ("output", "vector_map_filtered/pointcloud"), + ], + parameters=[ + { + "voxel_size_x": 0.25, + "voxel_size_y": 0.25, + } + ], + # cannot use intra process because vector map filter uses transient local. + extra_arguments=[{"use_intra_process_comms": False}], + ) + ) + + components.append( + ComposableNode( + package="ground_segmentation", + plugin="ground_segmentation::RANSACGroundFilterComponent", + name="ransac_ground_filter", + namespace="plane_fitting", + remappings=[ + ("input", "vector_map_filtered/pointcloud"), + ("output", "pointcloud"), + ], + parameters=[self.ground_segmentation_param["ransac_ground_filter"]["parameters"]], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + return components + + def create_common_pipeline(self, input_topic, output_topic): + components = [] + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name="crop_box_filter", + remappings=[ + ("input", input_topic), + ("output", "range_cropped/pointcloud"), + ], + parameters=[ + { + "input_frame": LaunchConfiguration("base_frame"), + "output_frame": LaunchConfiguration("base_frame"), + "min_z": self.vehicle_info["min_height_offset"], + "max_z": self.vehicle_info["max_height_offset"], + }, + self.ground_segmentation_param["common_crop_box_filter"]["parameters"], + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="ground_segmentation", + plugin=self.ground_segmentation_param["common_ground_filter"]["plugin"], + name="common_ground_filter", + remappings=[ + ("input", "range_cropped/pointcloud"), + ("output", output_topic), + ], + parameters=[self.ground_segmentation_param["common_ground_filter"]["parameters"]], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent", + name="voxel_grid_outlier_filter_single_frame", + remappings=[ + ("input", output_topic), + ("output", output_topic + "_outlier_filtered"), + ], + parameters=[ + { + "voxel_size_x": 0.4, + "voxel_size_y": 0.4, + "voxel_size_z": 100.0, + "voxel_points_threshold": 5, + } + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + return components + + def create_single_frame_obstacle_segmentation_components(self, input_topic, output_topic): + additional_lidars = self.ground_segmentation_param["additional_lidars"] + use_ransac = bool(self.ground_segmentation_param["ransac_input_topics"]) + use_additional = bool(additional_lidars) + relay_topic = "all_lidars/pointcloud" + common_pipeline_output = ( + "single_frame/pointcloud" if use_additional or use_ransac else output_topic + ) + + components = self.create_common_pipeline( + input_topic=input_topic, + output_topic=common_pipeline_output, + ) + + if use_additional: + for lidar_name in additional_lidars: + components.extend(self.create_additional_pipeline(lidar_name)) + components.append( + self.get_additional_lidars_concatenated_component( + input_topics=[common_pipeline_output] + + [f"{x}/pointcloud" for x in additional_lidars], + output_topic=relay_topic if use_ransac else output_topic, + ) + ) + + if use_ransac: + components.extend(self.create_ransac_pipeline()) + components.append( + self.get_single_frame_obstacle_segmentation_concatenated_component( + input_topics=[ + "plane_fitting/pointcloud", + relay_topic if use_additional else common_pipeline_output, + ], + output_topic=output_topic, + ) + ) + + return components + + @staticmethod + def create_time_series_outlier_filter_components(input_topic, output_topic): + components = [] + components.append( + ComposableNode( + package="occupancy_grid_map_outlier_filter", + plugin="occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent", + name="occupancy_grid_map_outlier_filter", + remappings=[ + ("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"), + ("~/input/pointcloud", input_topic), + ("~/output/pointcloud", output_topic), + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + return components + + @staticmethod + def create_single_frame_outlier_filter_components(input_topic, output_topic): + components = [] + components.append( + ComposableNode( + package="elevation_map_loader", + plugin="ElevationMapLoaderNode", + name="elevation_map_loader", + namespace="elevation_map", + remappings=[ + ("output/elevation_map", "map"), + ("input/pointcloud_map", "/map/pointcloud_map"), + ("input/vector_map", "/map/vector_map"), + ], + parameters=[ + { + "use_lane_filter": True, + "lane_margin": 2.0, + "use_inpaint": True, + "inpaint_radius": 1.0, + "param_file_path": PathJoinSubstitution( + [ + FindPackageShare("aip_x1_1_launch"), + "config", + "ground_segmentation", + "elevation_map_parameters.yaml", + ] + ), + "elevation_map_directory": PathJoinSubstitution( + [FindPackageShare("elevation_map_loader"), "data", "elevation_maps"] + ), + "use_elevation_map_cloud_publisher": False, + } + ], + extra_arguments=[{"use_intra_process_comms": False}], + ) + ) + + components.append( + ComposableNode( + package="compare_map_segmentation", + plugin="compare_map_segmentation::CompareElevationMapFilterComponent", + name="compare_elevation_map_filter", + namespace="elevation_map", + remappings=[ + ("input", input_topic), + ("output", "map_filtered/pointcloud"), + ("input/elevation_map", "map"), + ], + parameters=[ + { + "map_frame": "map", + "map_layer_name": "elevation", + "height_diff_thresh": 0.15, + "input_frame": "map", + "output_frame": "base_link", + } + ], + extra_arguments=[ + {"use_intra_process_comms": False} + ], # can't use this with transient_local + ) + ) + + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridDownsampleFilterComponent", + name="voxel_grid_filter", + namespace="elevation_map", + remappings=[ + ("input", "map_filtered/pointcloud"), + ("output", "voxel_grid_filtered/pointcloud"), + ], + parameters=[ + { + "input_frame": LaunchConfiguration("base_frame"), + "output_frame": LaunchConfiguration("base_frame"), + "voxel_size_x": 0.04, + "voxel_size_y": 0.04, + "voxel_size_z": 0.08, + } + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + components.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::VoxelGridOutlierFilterComponent", + name="voxel_grid_outlier_filter", + namespace="elevation_map", + remappings=[ + ("input", "voxel_grid_filtered/pointcloud"), + ("output", output_topic), + ], + parameters=[ + { + "voxel_size_x": 0.4, + "voxel_size_y": 0.4, + "voxel_size_z": 100.0, + "voxel_points_threshold": 5, + } + ], + extra_arguments=[ + {"use_intra_process_comms": LaunchConfiguration("use_intra_process")} + ], + ) + ) + + return components + + @staticmethod + def get_additional_lidars_concatenated_component(input_topics, output_topic): + return ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + name="concatenate_data", + remappings=[("output", output_topic)], + parameters=[ + { + "input_topics": input_topics, + "output_frame": LaunchConfiguration("base_frame"), + } + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + @staticmethod + def get_single_frame_obstacle_segmentation_concatenated_component(input_topics, output_topic): + return ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + name="concatenate_no_ground_data", + remappings=[("output", output_topic)], + parameters=[ + { + "input_topics": input_topics, + "output_frame": LaunchConfiguration("base_frame"), + } + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + +def launch_setup(context, *args, **kwargs): + pipeline = GroundSegmentationPipeline(context) + + components = [] + components.extend( + pipeline.create_single_frame_obstacle_segmentation_components( + input_topic="/sensing/lidar/concatenated/pointcloud", + output_topic=pipeline.single_frame_obstacle_seg_output, + ) + ) + + relay_topic = "single_frame/filtered/pointcloud" + if pipeline.use_single_frame_filter: + components.extend( + pipeline.create_single_frame_outlier_filter_components( + input_topic=pipeline.single_frame_obstacle_seg_output, + output_topic=relay_topic + if pipeline.use_time_series_filter + else pipeline.output_topic, + ) + ) + if pipeline.use_time_series_filter: + components.extend( + pipeline.create_time_series_outlier_filter_components( + input_topic=relay_topic + if pipeline.use_single_frame_filter + else pipeline.single_frame_obstacle_seg_output, + output_topic=pipeline.output_topic, + ) + ) + individual_container = ComposableNodeContainer( + name=LaunchConfiguration("container_name"), + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=components, + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), + output="screen", + ) + pointcloud_container_loader = LoadComposableNodes( + composable_node_descriptions=components, + target_container=LaunchConfiguration("container_name"), + condition=IfCondition(LaunchConfiguration("use_pointcloud_container")), + ) + return [individual_container, pointcloud_container_loader] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None): + launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) + + add_launch_arg("base_frame", "base_link") + add_launch_arg("use_multithread", "False") + add_launch_arg("use_intra_process", "True") + add_launch_arg("use_pointcloud_container", "False") + add_launch_arg("container_name", "perception_pipeline_container") + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) diff --git a/aip_x1_1_launch/launch/imu.launch.xml b/aip_x1_1_launch/launch/imu.launch.xml new file mode 100644 index 00000000..2479629d --- /dev/null +++ b/aip_x1_1_launch/launch/imu.launch.xml @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_1_launch/launch/lidar.launch.xml b/aip_x1_1_launch/launch/lidar.launch.xml new file mode 100644 index 00000000..115de1f9 --- /dev/null +++ b/aip_x1_1_launch/launch/lidar.launch.xml @@ -0,0 +1,53 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py new file mode 100644 index 00000000..cf635604 --- /dev/null +++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py @@ -0,0 +1,184 @@ +# Copyright 2020 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 + +from ament_index_python.packages import get_package_share_directory +import launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.actions import Node +from launch_ros.descriptions import ComposableNode +import yaml + + +def get_pandar_monitor_info(): + path = os.path.join( + get_package_share_directory("pandar_monitor"), + "config", + "pandar_monitor.param.yaml", + ) + with open(path, "r") as f: + p = yaml.safe_load(f)["/**"]["ros__parameters"] + return p + + +def launch_setup(context, *args, **kwargs): + def create_parameter_dict(*args): + result = {} + for x in args: + result[x] = LaunchConfiguration(x) + return result + + monitor_node = Node( + executable="pandar_monitor_node", + package="pandar_monitor", + name="pandar_monitor", + parameters=[ + { + "ip_address": LaunchConfiguration("device_ip"), + } + ] + + [get_pandar_monitor_info()], + condition=IfCondition(LaunchConfiguration("launch_driver")), + output="screen", + ) + + driver_component = ComposableNode( + package="pandar_driver", + plugin="pandar_driver::PandarDriver", + name="pandar_driver", + parameters=[ + { + **create_parameter_dict( + "pcap", "device_ip", "lidar_port", "gps_port", "scan_phase", "model", "frame_id" + ) + } + ], + ) + + pointcloud_component = ComposableNode( + package="pandar_pointcloud", + plugin="pandar_pointcloud::PandarCloud", + name="pandar_cloud", + parameters=[ + { + **create_parameter_dict( + "model", + "scan_phase", + "angle_range", + "distance_range", + "device_ip", + "calibration", + "return_mode", + ) + } + ], + remappings=[("pandar_points", "pointcloud_raw"), ("pandar_points_ex", "pointcloud_raw_ex")], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + undistort_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + name="distortion_corrector_node", + remappings=[ + ("~/input/velocity_report", "/vehicle/status/velocity_status"), + ("~/input/pointcloud", "pointcloud_raw_ex"), + ("~/output/pointcloud", "rectified/pointcloud_ex"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + ring_outlier_filter_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + name="ring_outlier_filter", + remappings=[ + ("input", "rectified/pointcloud_ex"), + ("output", "outlier_filtered/pointcloud"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + container = ComposableNodeContainer( + name="pandar_node_container", + namespace="pointcloud_preprocessor", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[ + pointcloud_component, + undistort_component, + ring_outlier_filter_component, + ], + ) + + driver_loader = LoadComposableNodes( + composable_node_descriptions=[driver_component], + target_container=container, + condition=launch.conditions.IfCondition(LaunchConfiguration("launch_driver")), + ) + + return [ + container, + driver_loader, + monitor_node, + ] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None): + launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) + + add_launch_arg("model") + add_launch_arg("launch_driver", "true") + add_launch_arg("calibration", "") + add_launch_arg("device_ip", "192.168.1.201") + add_launch_arg("scan_phase", "0.0") + add_launch_arg("angle_range", "[0.0, 360.0]") + add_launch_arg("distance_range", "[0.05, 200.0]") + add_launch_arg("return_mode", "Dual") + add_launch_arg("container_name", "pandar_composable_node_container") + add_launch_arg("pcap", "") + add_launch_arg("lidar_port", "2321") + add_launch_arg("gps_port", "10121") + add_launch_arg("frame_id", "pandar") + add_launch_arg("use_multithread", "False") + add_launch_arg("use_intra_process", "False") + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py new file mode 100644 index 00000000..b5c8601b --- /dev/null +++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py @@ -0,0 +1,101 @@ +# Copyright 2020 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 launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode + + +def launch_setup(context, *args, **kwargs): + # set concat filter as a component + concat_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", + name="concatenate_data", + remappings=[("output", "concatenated/pointcloud")], + parameters=[ + { + "input_topics": [ + "/sensing/lidar/top/outlier_filtered/pointcloud", + "/sensing/lidar/front_center/pointcloud_raw", + ], + "output_frame": LaunchConfiguration("base_frame"), + "timeout_sec": 1.0, + } + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + + # set container to run all required components in the same process + container = ComposableNodeContainer( + name=LaunchConfiguration("container_name"), + namespace="", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=[], + condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), + output="screen", + ) + + target_container = ( + container + if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context) + else LaunchConfiguration("container_name") + ) + + # load concat or passthrough filter + concat_loader = LoadComposableNodes( + composable_node_descriptions=[concat_component], + target_container=target_container, + ) + + return [container, concat_loader] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None): + launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) + + add_launch_arg("base_frame", "base_link") + add_launch_arg("use_multithread", "False") + add_launch_arg("use_intra_process", "False") + add_launch_arg("use_pointcloud_container", "False") + add_launch_arg("container_name", "pointcloud_preprocessor_container") + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) diff --git a/aip_x1_1_launch/launch/sensing.launch.xml b/aip_x1_1_launch/launch/sensing.launch.xml new file mode 100644 index 00000000..3dafb3d1 --- /dev/null +++ b/aip_x1_1_launch/launch/sensing.launch.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_1_launch/launch/topic_state_monitor.launch.py b/aip_x1_1_launch/launch/topic_state_monitor.launch.py new file mode 100644 index 00000000..29bc9f69 --- /dev/null +++ b/aip_x1_1_launch/launch/topic_state_monitor.launch.py @@ -0,0 +1,155 @@ +# Copyright 2021 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. + +from launch.launch_description import LaunchDescription +from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode + + +def generate_launch_description(): + # Topic Monitor For Front Lidar PointCloud + topic_state_monitor_pandar_front_center = ComposableNode( + package="topic_state_monitor", + plugin="topic_state_monitor::TopicStateMonitorNode", + name="topic_state_monitor_pandar_front_center", + parameters=[ + { + "topic": "/sensing/lidar/front_center/pointcloud_raw", + "topic_type": "sensor_msgs/msg/PointCloud2", + "best_effort": True, + "diag_name": "sensing_topic_status", + "warn_rate": 5.0, + "error_rate": 1.0, + "timeout": 1.0, + "window_size": 10, + }, + ], + extra_arguments=[{"use_intra_process_comms": True}], + ) + + # Topic Monitor For Concat PointCloud + topic_state_monitor_top_outlier_filtered = ComposableNode( + package="topic_state_monitor", + plugin="topic_state_monitor::TopicStateMonitorNode", + name="topic_state_monitor_top_outlier_filtered", + parameters=[ + { + "topic": "/sensing/lidar/top/outlier_filtered/pointcloud", + "topic_type": "sensor_msgs/msg/PointCloud2", + "best_effort": True, + "diag_name": "sensing_topic_status", + "warn_rate": 5.0, + "error_rate": 1.0, + "timeout": 1.0, + "window_size": 10, + }, + ], + extra_arguments=[{"use_intra_process_comms": True}], + ) + + topic_state_monitor_pandar_front_center_outlier_filtered = ComposableNode( + package="topic_state_monitor", + plugin="topic_state_monitor::TopicStateMonitorNode", + name="topic_state_monitor_pandar_front_center_outlier_filtered", + parameters=[ + { + "topic": "/sensing/lidar/front_center/outlier_filtered/pointcloud", + "topic_type": "sensor_msgs/msg/PointCloud2", + "best_effort": True, + "diag_name": "sensing_topic_status", + "warn_rate": 5.0, + "error_rate": 1.0, + "timeout": 1.0, + "window_size": 10, + }, + ], + extra_arguments=[{"use_intra_process_comms": True}], + ) + + # Topic Monitor for NoGroundFilter + topic_state_monitor_rough_no_ground = ComposableNode( + package="topic_state_monitor", + plugin="topic_state_monitor::TopicStateMonitorNode", + name="topic_state_monitor_rough_no_ground", + parameters=[ + { + "topic": "/perception/obstacle_segmentation/single_frame/pointcloud_raw", + "topic_type": "sensor_msgs/msg/PointCloud2", + "best_effort": True, + "diag_name": "sensing_topic_status", + "warn_rate": 5.0, + "error_rate": 1.0, + "timeout": 1.0, + "window_size": 10, + }, + ], + extra_arguments=[{"use_intra_process_comms": True}], + ) + topic_state_monitor_short_height_no_ground = ComposableNode( + package="topic_state_monitor", + plugin="topic_state_monitor::TopicStateMonitorNode", + name="topic_state_monitor_short_height_no_ground", + parameters=[ + { + "topic": "/perception/obstacle_segmentation/plane_fitting/pointcloud", + "topic_type": "sensor_msgs/msg/PointCloud2", + "best_effort": True, + "diag_name": "sensing_topic_status", + "warn_rate": 5.0, + "error_rate": 1.0, + "timeout": 1.0, + "window_size": 10, + }, + ], + extra_arguments=[{"use_intra_process_comms": True}], + ) + + # topic monitor for tamagawa IMU + topic_state_monitor_imu_data = ComposableNode( + package="topic_state_monitor", + plugin="topic_state_monitor::TopicStateMonitorNode", + name="topic_state_monitor_imu_data", + parameters=[ + { + "topic": "/sensing/imu/imu_data", + "topic_type": "sensor_msgs/msg/Imu", + "best_effort": False, + "diag_name": "sensing_topic_status", + "warn_rate": 5.0, + "error_rate": 1.0, + "timeout": 1.0, + "window_size": 10, + }, + ], + extra_arguments=[{"use_intra_process_comms": True}], + ) + + # set container to run all required components in the same process + container = ComposableNodeContainer( + name="topic_state_monitor_container", + namespace="topic_state_monitor", + package="rclcpp_components", + executable="component_container", + composable_node_descriptions=[ + topic_state_monitor_pandar_front_center, + topic_state_monitor_top_outlier_filtered, + topic_state_monitor_pandar_front_center_outlier_filtered, + topic_state_monitor_rough_no_ground, + topic_state_monitor_short_height_no_ground, + topic_state_monitor_imu_data, + ], + output="screen", + ) + + return LaunchDescription([container]) diff --git a/aip_x1_1_launch/launch/velodyne_VLP16.launch.xml b/aip_x1_1_launch/launch/velodyne_VLP16.launch.xml new file mode 100644 index 00000000..8ad01878 --- /dev/null +++ b/aip_x1_1_launch/launch/velodyne_VLP16.launch.xml @@ -0,0 +1,41 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py new file mode 100644 index 00000000..edffc716 --- /dev/null +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -0,0 +1,233 @@ +# Copyright 2020 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 launch +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.actions import SetLaunchConfiguration +from launch.conditions import IfCondition +from launch.conditions import UnlessCondition +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import ComposableNodeContainer +from launch_ros.actions import LoadComposableNodes +from launch_ros.descriptions import ComposableNode + + +def get_vehicle_info(context): + gp = context.launch_configurations.get("ros_params", {}) + p = {} + p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] + p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] + p["min_longitudinal_offset"] = -gp["rear_overhang"] + p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"] + p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"]) + p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"] + p["min_height_offset"] = 0.0 + p["max_height_offset"] = gp["vehicle_height"] + return p + + +def launch_setup(context, *args, **kwargs): + def create_parameter_dict(*args): + result = {} + for x in args: + result[x] = LaunchConfiguration(x) + return result + + nodes = [] + + # turn packets into pointcloud as in + # https://github.com/ros-drivers/velodyne/blob/ros2/velodyne_pointcloud/launch/velodyne_convert_node-VLP16-composed-launch.py + nodes.append( + ComposableNode( + package="velodyne_pointcloud", + plugin="velodyne_pointcloud::Convert", + name="velodyne_convert_node", + parameters=[ + { + **create_parameter_dict( + "calibration", + "min_range", + "max_range", + "num_points_thresholds", + "invalid_intensity", + "frame_id", + "scan_phase", + "view_direction", + "view_width", + ), + } + ], + remappings=[ + ("velodyne_points", "pointcloud_raw"), + ("velodyne_points_ex", "pointcloud_raw_ex"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + ) + + cropbox_parameters = create_parameter_dict("input_frame", "output_frame") + cropbox_parameters["negative"] = True + + vehicle_info = get_vehicle_info(context) + cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"] + cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"] + cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"] + cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"] + cropbox_parameters["min_z"] = vehicle_info["min_height_offset"] + cropbox_parameters["max_z"] = vehicle_info["max_height_offset"] + + nodes.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name="crop_box_filter_self", + remappings=[ + ("input", "pointcloud_raw_ex"), + ("output", "self_cropped/pointcloud_ex"), + ], + parameters=[cropbox_parameters], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + ) + + nodes.append( + ComposableNode( + package="velodyne_pointcloud", + plugin="velodyne_pointcloud::Interpolate", + name="velodyne_interpolate_node", + remappings=[ + ("velodyne_points_ex", "self_cropped/pointcloud_ex"), + ("velodyne_points_interpolate", "rectified/pointcloud"), + ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + ) + + nodes.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::RingOutlierFilterComponent", + name="ring_outlier_filter", + remappings=[ + ("input", "rectified/pointcloud_ex"), + ("output", "outlier_filtered/pointcloud"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + ) + + # set container to run all required components in the same process + container = ComposableNodeContainer( + # need unique name, otherwise all processes in same container and the node names then clash + name="velodyne_node_container", + namespace="pointcloud_preprocessor", + package="rclcpp_components", + executable=LaunchConfiguration("container_executable"), + composable_node_descriptions=nodes, + ) + + driver_component = ComposableNode( + package="velodyne_driver", + plugin="velodyne_driver::VelodyneDriver", + # node is created in a global context, need to avoid name clash + name="velodyne_driver", + parameters=[ + { + **create_parameter_dict( + "device_ip", + "gps_time", + "read_once", + "read_fast", + "repeat_delay", + "frame_id", + "model", + "rpm", + "port", + "pcap", + "scan_phase", + ), + } + ], + ) + + # one way to add a ComposableNode conditional on a launch argument to a + # container. The `ComposableNode` itself doesn't accept a condition + loader = LoadComposableNodes( + composable_node_descriptions=[driver_component], + target_container=container, + condition=launch.conditions.IfCondition(LaunchConfiguration("launch_driver")), + ) + + return [container, loader] + + +def generate_launch_description(): + launch_arguments = [] + + def add_launch_arg(name: str, default_value=None, description=None): + # a default_value of None is equivalent to not passing that kwarg at all + launch_arguments.append( + DeclareLaunchArgument(name, default_value=default_value, description=description) + ) + + add_launch_arg("model", description="velodyne model name") + add_launch_arg("launch_driver", "True", "do launch driver") + add_launch_arg("calibration", description="path to calibration file") + add_launch_arg("device_ip", "192.168.1.201", "device ip address") + add_launch_arg("scan_phase", "0.0") + add_launch_arg("base_frame", "base_link", "base frame id") + add_launch_arg("container_name", "velodyne_composable_node_container", "container name") + add_launch_arg("min_range", description="minimum view range") + add_launch_arg("max_range", description="maximum view range") + add_launch_arg("pcap", "") + add_launch_arg("port", "2368", description="device port number") + add_launch_arg("read_fast", "False") + add_launch_arg("read_once", "False") + add_launch_arg("repeat_delay", "0.0") + add_launch_arg("rpm", "600.0", "rotational frequency") + add_launch_arg("laserscan_ring", "-1") + add_launch_arg("laserscan_resolution", "0.007") + add_launch_arg("num_points_thresholds", "300") + add_launch_arg("invalid_intensity") + add_launch_arg("frame_id", "velodyne", "velodyne frame id") + add_launch_arg("gps_time", "False") + add_launch_arg("view_direction", description="the center of lidar angle") + add_launch_arg("view_width", description="lidar angle: 0~6.28 [rad]") + add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox") + add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox") + add_launch_arg( + "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml" + ) + add_launch_arg("use_multithread", "False", "use multithread") + add_launch_arg("use_intra_process", "False", "use ROS2 component container communication") + + set_container_executable = SetLaunchConfiguration( + "container_executable", + "component_container", + condition=UnlessCondition(LaunchConfiguration("use_multithread")), + ) + + set_container_mt_executable = SetLaunchConfiguration( + "container_executable", + "component_container_mt", + condition=IfCondition(LaunchConfiguration("use_multithread")), + ) + + return launch.LaunchDescription( + launch_arguments + + [set_container_executable, set_container_mt_executable] + + [OpaqueFunction(function=launch_setup)] + ) diff --git a/aip_x1_1_launch/package.xml b/aip_x1_1_launch/package.xml new file mode 100644 index 00000000..8e7f2600 --- /dev/null +++ b/aip_x1_1_launch/package.xml @@ -0,0 +1,36 @@ + + + + aip_x1_1_launch + 0.1.0 + The aip_x1_1_launch package + + Yohei Mishina + Apache License 2.0 + + ament_cmake_auto + + compare_map_segmentation + elevation_map_loader + ground_segmentation + imu_corrector + individual_params + occupancy_grid_map_outlier_filter + pandar_driver + pandar_pointcloud + pointcloud_preprocessor + rclcpp_components + ros2_socketcan + tamagawa_imu_driver + topic_state_monitor + velodyne_driver + velodyne_monitor + velodyne_pointcloud + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + From 627771653204a28f105f6213de8685957312e428 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 17 May 2023 18:10:36 +0900 Subject: [PATCH 02/30] fix(velodyne_node_container): fix param load failure Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/velodyne_node_container.launch.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py index edffc716..edcef126 100644 --- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -26,6 +26,8 @@ def get_vehicle_info(context): gp = context.launch_configurations.get("ros_params", {}) + if not gp: + gp = dict(context.launch_configurations.get("global_params", {})) p = {} p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] From 945a5eadc91d717b5a42f33953bd50afd397f681 Mon Sep 17 00:00:00 2001 From: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com> Date: Thu, 18 May 2023 14:19:14 +0900 Subject: [PATCH 03/30] fix(diagnostic_aggregator): update sensor kit param (#22) (#23) * fix(diagnostic_aggregator): Modified aggregator confinguration to V1' * fix path on diagnostic aggregator --- .../config/diagnostic_aggregator/sensor_kit.param.yaml | 4 ++-- .../config/diagnostic_aggregator/sensor_kit.param.yaml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 7c6f52f5..09039b2d 100644 --- a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -33,9 +33,9 @@ path: rpm contains: [": velodyne_rpm"] timeout: 3.0 - pandar: + front: type: diagnostic_aggregator/AnalyzerGroup - path: pandar + path: front analyzers: health_monitoring: type: diagnostic_aggregator/AnalyzerGroup diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index dafe8bbc..9ca9ed49 100644 --- a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -34,9 +34,9 @@ contains: [": velodyne_rpm"] timeout: 3.0 - livox: + front: type: diagnostic_aggregator/AnalyzerGroup - path: livox + path: front analyzers: health_monitoring: type: diagnostic_aggregator/AnalyzerGroup From a9554dda46a6db7b536f2f63e9bbeb83f55f91e5 Mon Sep 17 00:00:00 2001 From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Date: Mon, 5 Jun 2023 16:46:28 +0900 Subject: [PATCH 04/30] fix: add vehicle_velocity_converter.launch (#146) fix: add vehicle_velocity_converter.launch to aip_x1_1_launch Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/pandar_node_container.launch.py | 2 ++ aip_x1_1_launch/launch/sensing.launch.xml | 7 +++++++ 2 files changed, 9 insertions(+) diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py index cf635604..e84947fc 100644 --- a/aip_x1_1_launch/launch/pandar_node_container.launch.py +++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py @@ -100,6 +100,8 @@ def create_parameter_dict(*args): plugin="pointcloud_preprocessor::DistortionCorrectorComponent", name="distortion_corrector_node", remappings=[ + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("~/input/imu", "/sensing/imu/imu_data"), ("~/input/velocity_report", "/vehicle/status/velocity_status"), ("~/input/pointcloud", "pointcloud_raw_ex"), ("~/output/pointcloud", "rectified/pointcloud_ex"), diff --git a/aip_x1_1_launch/launch/sensing.launch.xml b/aip_x1_1_launch/launch/sensing.launch.xml index 3dafb3d1..9b064ab6 100644 --- a/aip_x1_1_launch/launch/sensing.launch.xml +++ b/aip_x1_1_launch/launch/sensing.launch.xml @@ -20,6 +20,13 @@ + + + + + + + From d5729d2cca87db41ee46d7912424e4c8565781f5 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 13 Dec 2023 15:38:33 +0900 Subject: [PATCH 05/30] feat: add use_awsim option and add gnss imu Signed-off-by: 1222-takeshi --- aip_x1_description/urdf/sensor_kit.xacro | 27 ++++++++++++++++++++++++ aip_x1_launch/launch/lidar.launch.xml | 7 +++--- aip_x1_launch/launch/sensing.launch.xml | 5 +++++ 3 files changed, 36 insertions(+), 3 deletions(-) diff --git a/aip_x1_description/urdf/sensor_kit.xacro b/aip_x1_description/urdf/sensor_kit.xacro index 5ab2f15c..649ba65f 100644 --- a/aip_x1_description/urdf/sensor_kit.xacro +++ b/aip_x1_description/urdf/sensor_kit.xacro @@ -2,6 +2,7 @@ + @@ -67,5 +68,31 @@ pitch="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['pitch']}" yaw="${calibration['sensor_kit_base_link']['livox_front_right_base_link']['yaw']}" /> + + + + diff --git a/aip_x1_launch/launch/lidar.launch.xml b/aip_x1_launch/launch/lidar.launch.xml index 56066df5..ee0d93d0 100644 --- a/aip_x1_launch/launch/lidar.launch.xml +++ b/aip_x1_launch/launch/lidar.launch.xml @@ -5,6 +5,7 @@ + @@ -25,7 +26,7 @@ - + @@ -52,13 +53,13 @@ - + - + diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml index 1c294fdf..19b4f5df 100644 --- a/aip_x1_launch/launch/sensing.launch.xml +++ b/aip_x1_launch/launch/sensing.launch.xml @@ -4,6 +4,9 @@ + + + @@ -12,6 +15,7 @@ + @@ -22,6 +26,7 @@ + From 662495a51aa034908bca8c432c7b4af5c73f9988 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 13 Dec 2023 20:43:57 +0900 Subject: [PATCH 06/30] feat: add GNSS Signed-off-by: 1222-takeshi --- aip_x1_1_description/urdf/sensor_kit.xacro | 17 +++++++++++++++-- aip_x1_1_launch/launch/sensing.launch.xml | 14 +++++++++++--- aip_x1_launch/launch/sensing.launch.xml | 2 +- .../launch/velodyne_node_container.launch.py | 2 -- 4 files changed, 27 insertions(+), 8 deletions(-) diff --git a/aip_x1_1_description/urdf/sensor_kit.xacro b/aip_x1_1_description/urdf/sensor_kit.xacro index 66508144..7629d304 100644 --- a/aip_x1_1_description/urdf/sensor_kit.xacro +++ b/aip_x1_1_description/urdf/sensor_kit.xacro @@ -2,6 +2,7 @@ + @@ -48,8 +49,20 @@ pitch="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['pitch']}" yaw="${calibration['sensor_kit_base_link']['pandar_xt32_front_center_base_link']['yaw']}" /> - - + + + + + + + - + @@ -20,13 +24,17 @@ + + + + + - + - diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml index 19b4f5df..b8b04a0d 100644 --- a/aip_x1_launch/launch/sensing.launch.xml +++ b/aip_x1_launch/launch/sensing.launch.xml @@ -30,7 +30,7 @@ - + diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py index 56b35116..5e6ab29a 100644 --- a/aip_x1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_launch/launch/velodyne_node_container.launch.py @@ -25,8 +25,6 @@ def get_vehicle_info(context): - # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support - # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py gp = context.launch_configurations.get("ros_params", {}) if not gp: gp = dict(context.launch_configurations.get("global_params", {})) From cd145a2188cb1c7e7966666e9da7257e5e5faae0 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 13 Dec 2023 20:45:14 +0900 Subject: [PATCH 07/30] feat: update for upstream Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/imu.launch.xml | 21 ++++++++++----- .../launch/pandar_node_container.launch.py | 1 - .../launch/pointcloud_preprocessor.launch.py | 6 ++++- .../launch/velodyne_node_container.launch.py | 27 ++++++++++++++----- 4 files changed, 41 insertions(+), 14 deletions(-) diff --git a/aip_x1_1_launch/launch/imu.launch.xml b/aip_x1_1_launch/launch/imu.launch.xml index 2479629d..30207f8d 100644 --- a/aip_x1_1_launch/launch/imu.launch.xml +++ b/aip_x1_1_launch/launch/imu.launch.xml @@ -1,11 +1,12 @@ - - - - + + + + + @@ -19,10 +20,18 @@ + + - + - + + + + + + + diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py index e84947fc..ffc2a70c 100644 --- a/aip_x1_1_launch/launch/pandar_node_container.launch.py +++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py @@ -39,7 +39,6 @@ def get_pandar_monitor_info(): p = yaml.safe_load(f)["/**"]["ros__parameters"] return p - def launch_setup(context, *args, **kwargs): def create_parameter_dict(*args): result = {} diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py index b5c8601b..183f3681 100644 --- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py @@ -30,7 +30,10 @@ def launch_setup(context, *args, **kwargs): package="pointcloud_preprocessor", plugin="pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", name="concatenate_data", - remappings=[("output", "concatenated/pointcloud")], + remappings=[ + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("output", "concatenated/pointcloud") + ], parameters=[ { "input_topics": [ @@ -39,6 +42,7 @@ def launch_setup(context, *args, **kwargs): ], "output_frame": LaunchConfiguration("base_frame"), "timeout_sec": 1.0, + "input_twist_topic_type": "twist", } ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py index edcef126..3f644f33 100644 --- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -104,15 +104,30 @@ def create_parameter_dict(*args): ) ) + # nodes.append( + # ComposableNode( + # package="velodyne_pointcloud", + # plugin="velodyne_pointcloud::Interpolate", + # name="velodyne_interpolate_node", + # remappings=[ + # ("velodyne_points_ex", "self_cropped/pointcloud_ex"), + # ("velodyne_points_interpolate", "rectified/pointcloud"), + # ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), + # ], + # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + # ) + # ) + nodes.append( ComposableNode( - package="velodyne_pointcloud", - plugin="velodyne_pointcloud::Interpolate", - name="velodyne_interpolate_node", + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + name="distortion_corrector_node", remappings=[ - ("velodyne_points_ex", "self_cropped/pointcloud_ex"), - ("velodyne_points_interpolate", "rectified/pointcloud"), - ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("~/input/imu", "/sensing/imu/imu_data"), + ("~/input/pointcloud", "self_cropped/pointcloud_ex"), + ("~/output/pointcloud", "rectified/pointcloud_ex"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) From dd21663f9f1c775acb87095ca8e971ef880fdc70 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 13 Dec 2023 20:45:29 +0900 Subject: [PATCH 08/30] feat: add use_awsim option Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/lidar.launch.xml | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/aip_x1_1_launch/launch/lidar.launch.xml b/aip_x1_1_launch/launch/lidar.launch.xml index 115de1f9..0101dd89 100644 --- a/aip_x1_1_launch/launch/lidar.launch.xml +++ b/aip_x1_1_launch/launch/lidar.launch.xml @@ -7,6 +7,7 @@ + @@ -23,7 +24,7 @@ - + @@ -40,7 +41,7 @@ - + @@ -48,6 +49,6 @@ - + From f5b9713c23af9b2f7e3ef6240dd9c84398dde341 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 13 Dec 2023 22:00:50 +0900 Subject: [PATCH 09/30] feat: change topic name Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py | 2 +- aip_x1_1_launch/launch/sensing.launch.xml | 2 -- aip_x1_1_launch/launch/topic_state_monitor.launch.py | 2 +- aip_x1_1_launch/launch/velodyne_node_container.launch.py | 2 +- 4 files changed, 3 insertions(+), 5 deletions(-) diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py index 183f3681..b91fe124 100644 --- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py @@ -37,7 +37,7 @@ def launch_setup(context, *args, **kwargs): parameters=[ { "input_topics": [ - "/sensing/lidar/top/outlier_filtered/pointcloud", + "/sensing/lidar/top/pointcloud", "/sensing/lidar/front_center/pointcloud_raw", ], "output_frame": LaunchConfiguration("base_frame"), diff --git a/aip_x1_1_launch/launch/sensing.launch.xml b/aip_x1_1_launch/launch/sensing.launch.xml index e5ac18b5..5699d526 100644 --- a/aip_x1_1_launch/launch/sensing.launch.xml +++ b/aip_x1_1_launch/launch/sensing.launch.xml @@ -6,8 +6,6 @@ - - diff --git a/aip_x1_1_launch/launch/topic_state_monitor.launch.py b/aip_x1_1_launch/launch/topic_state_monitor.launch.py index 29bc9f69..03cdc3e0 100644 --- a/aip_x1_1_launch/launch/topic_state_monitor.launch.py +++ b/aip_x1_1_launch/launch/topic_state_monitor.launch.py @@ -45,7 +45,7 @@ def generate_launch_description(): name="topic_state_monitor_top_outlier_filtered", parameters=[ { - "topic": "/sensing/lidar/top/outlier_filtered/pointcloud", + "topic": "/sensing/lidar/top/pointcloud", "topic_type": "sensor_msgs/msg/PointCloud2", "best_effort": True, "diag_name": "sensing_topic_status", diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py index 3f644f33..aefe95b7 100644 --- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -140,7 +140,7 @@ def create_parameter_dict(*args): name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), - ("output", "outlier_filtered/pointcloud"), + ("output", "pointcloud"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) From efc9a65a465932a4ed3223c5f068f1da7a06a5c2 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 13 Dec 2023 22:06:07 +0900 Subject: [PATCH 10/30] comment out nebura Signed-off-by: 1222-takeshi --- common_sensor_launch/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml index c4b612ff..7c636c0e 100644 --- a/common_sensor_launch/package.xml +++ b/common_sensor_launch/package.xml @@ -11,7 +11,7 @@ ament_cmake_auto dummy_diag_publisher - nebula_sensor_driver + radar_tracks_msgs_converter radar_tracks_noise_filter velodyne_monitor From 3b6df9637927472e67bc4ce83f06d5e91f909498 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Tue, 30 Jan 2024 11:30:41 +0900 Subject: [PATCH 11/30] feat: add node alive monitoring Signed-off-by: 1222-takeshi --- .../config/diagnostic_aggregator/sensor_kit.param.yaml | 9 +++++++++ .../config/diagnostic_aggregator/sensor_kit.param.yaml | 9 +++++++++ 2 files changed, 18 insertions(+) diff --git a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 09039b2d..2d3f4014 100644 --- a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -4,6 +4,15 @@ type: diagnostic_aggregator/AnalyzerGroup path: sensing analyzers: + node_alive_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: node_alive_monitoring + analyzers: + topic_status: + type: diagnostic_aggregator/GenericAnalyzer + path: topic_status + contains: [": sensing_topic_status"] + timeout: 1.0 lidar: type: diagnostic_aggregator/AnalyzerGroup path: lidar diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 9ca9ed49..0f3ded87 100644 --- a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -4,6 +4,15 @@ type: diagnostic_aggregator/AnalyzerGroup path: sensing analyzers: + node_alive_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: node_alive_monitoring + analyzers: + topic_status: + type: diagnostic_aggregator/GenericAnalyzer + path: topic_status + contains: [": sensing_topic_status"] + timeout: 1.0 lidar: type: diagnostic_aggregator/AnalyzerGroup path: lidar From f7142c353abbc038b86f6c7722e840f1de36d0a9 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Tue, 30 Jan 2024 13:48:47 +0900 Subject: [PATCH 12/30] feat: add gnss Signed-off-by: 1222-takeshi --- aip_x1_1_description/config/sensor_kit_calibration.yaml | 7 +++++++ aip_x1_description/config/sensor_kit_calibration.yaml | 7 +++++++ 2 files changed, 14 insertions(+) diff --git a/aip_x1_1_description/config/sensor_kit_calibration.yaml b/aip_x1_1_description/config/sensor_kit_calibration.yaml index e8955379..70133656 100644 --- a/aip_x1_1_description/config/sensor_kit_calibration.yaml +++ b/aip_x1_1_description/config/sensor_kit_calibration.yaml @@ -20,3 +20,10 @@ sensor_kit_base_link: roll: 3.14159 pitch: 0.0 yaw: 0.0 + gnss_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 diff --git a/aip_x1_description/config/sensor_kit_calibration.yaml b/aip_x1_description/config/sensor_kit_calibration.yaml index 252bd1e9..93dbfbfe 100644 --- a/aip_x1_description/config/sensor_kit_calibration.yaml +++ b/aip_x1_description/config/sensor_kit_calibration.yaml @@ -27,3 +27,10 @@ sensor_kit_base_link: roll: 0.000 pitch: 0.000 yaw: -1.047 + gnss_link: + x: 0.0 + y: 0.0 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 From 03d73a3befdb669a9fe564c19bd87826e2749286 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Tue, 30 Jan 2024 13:51:30 +0900 Subject: [PATCH 13/30] feat: update ground_segmentation param Signed-off-by: 1222-takeshi --- .../config/ground_segmentation/ground_segmentation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 3bd7b101..5030bb95 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -2,7 +2,7 @@ ros__parameters: additional_lidars: [] ransac_input_topics: [ - "/sensing/lidar/front_center/outlier_filtered/pointcloud" + "/sensing/lidar/front_center/pointcloud" ] use_single_frame_filter: True use_time_series_filter: False From a27c9303345d951c1df0cc361b6b0ed5038ef147 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Tue, 30 Jan 2024 13:55:13 +0900 Subject: [PATCH 14/30] feat: remove use_awsim option Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/lidar.launch.xml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/aip_x1_1_launch/launch/lidar.launch.xml b/aip_x1_1_launch/launch/lidar.launch.xml index 0101dd89..5c1d680a 100644 --- a/aip_x1_1_launch/launch/lidar.launch.xml +++ b/aip_x1_1_launch/launch/lidar.launch.xml @@ -7,7 +7,6 @@ - @@ -21,10 +20,12 @@ + + - + @@ -41,7 +42,7 @@ - + @@ -49,6 +50,6 @@ - + From 5cc64191bbb229931b7fb9b8949bcdc0f2f41c98 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Tue, 30 Jan 2024 13:56:11 +0900 Subject: [PATCH 15/30] feat: add cropbox filter Signed-off-by: 1222-takeshi --- .../launch/pandar_node_container.launch.py | 48 ++++++++++++++++++- 1 file changed, 46 insertions(+), 2 deletions(-) diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py index ffc2a70c..905607f5 100644 --- a/aip_x1_1_launch/launch/pandar_node_container.launch.py +++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py @@ -39,6 +39,23 @@ def get_pandar_monitor_info(): p = yaml.safe_load(f)["/**"]["ros__parameters"] return p +def get_vehicle_info(context): + # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support + # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py + gp = context.launch_configurations.get("ros_params", {}) + if not gp: + gp = dict(context.launch_configurations.get("global_params", {})) + p = {} + p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] + p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] + p["min_longitudinal_offset"] = -gp["rear_overhang"] + p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"] + p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"]) + p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"] + p["min_height_offset"] = -0.3 # margin to crop pointcloud under vehicle + p["max_height_offset"] = gp["vehicle_height"] + return p + def launch_setup(context, *args, **kwargs): def create_parameter_dict(*args): result = {} @@ -94,6 +111,29 @@ def create_parameter_dict(*args): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) + cropbox_parameters = create_parameter_dict("input_frame", "output_frame") + cropbox_parameters["negative"] = True + + vehicle_info = get_vehicle_info(context) + cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"] + cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"] + cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"] + cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"] + cropbox_parameters["min_z"] = vehicle_info["min_height_offset"] + cropbox_parameters["max_z"] = vehicle_info["max_height_offset"] + + self_crop_component = ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::CropBoxFilterComponent", + name="crop_box_filter_self", + remappings=[ + ("input", "pointcloud_raw_ex"), + ("output", "self_cropped/pointcloud_ex"), + ], + parameters=[cropbox_parameters], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + undistort_component = ComposableNode( package="pointcloud_preprocessor", plugin="pointcloud_preprocessor::DistortionCorrectorComponent", @@ -102,7 +142,7 @@ def create_parameter_dict(*args): ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), ("~/input/imu", "/sensing/imu/imu_data"), ("~/input/velocity_report", "/vehicle/status/velocity_status"), - ("~/input/pointcloud", "pointcloud_raw_ex"), + ("~/input/pointcloud", "self_cropped/pointcloud_ex"), ("~/output/pointcloud", "rectified/pointcloud_ex"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], @@ -114,7 +154,7 @@ def create_parameter_dict(*args): name="ring_outlier_filter", remappings=[ ("input", "rectified/pointcloud_ex"), - ("output", "outlier_filtered/pointcloud"), + ("output", "pointcloud"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) @@ -126,6 +166,7 @@ def create_parameter_dict(*args): executable=LaunchConfiguration("container_executable"), composable_node_descriptions=[ pointcloud_component, + self_crop_component, undistort_component, ring_outlier_filter_component, ], @@ -158,11 +199,14 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("angle_range", "[0.0, 360.0]") add_launch_arg("distance_range", "[0.05, 200.0]") add_launch_arg("return_mode", "Dual") + add_launch_arg("base_frame", "base_link") add_launch_arg("container_name", "pandar_composable_node_container") add_launch_arg("pcap", "") add_launch_arg("lidar_port", "2321") add_launch_arg("gps_port", "10121") add_launch_arg("frame_id", "pandar") + add_launch_arg("input_frame", LaunchConfiguration("base_frame")) + add_launch_arg("output_frame", LaunchConfiguration("base_frame")) add_launch_arg("use_multithread", "False") add_launch_arg("use_intra_process", "False") From 99c7a59ecd42b1bb4bbd6756dc5a7c2b7c1a8951 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 31 Jan 2024 12:09:50 +0900 Subject: [PATCH 16/30] feat: add diag of gyro_bias_validator Signed-off-by: 1222-takeshi --- .../diagnostic_aggregator/sensor_kit.param.yaml | 13 +++++++++++++ .../diagnostic_aggregator/sensor_kit.param.yaml | 1 - 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 2d3f4014..e32c0fb8 100644 --- a/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -65,3 +65,16 @@ path: ptp contains: [": pandar_ptp"] timeout: 1.0 + imu: + type: diagnostic_aggregator/AnalyzerGroup + path: imu + analyzers: + bias_monitoring: + type: diagnostic_aggregator/AnalyzerGroup + path: bias_monitoring + analyzers: + gyro_bias_validator: + type: diagnostic_aggregator/GenericAnalyzer + path: gyro_bias_validator + contains: [": gyro_bias_validator"] + timeout: 1.0 diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 0f3ded87..24b3a6e6 100644 --- a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml +++ b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml @@ -110,7 +110,6 @@ # path: time_sync # contains: [": livox_time_sync"] # timeout: 3.0 - imu: type: diagnostic_aggregator/AnalyzerGroup path: imu From 6fc7873fc740f78e8e5a2bd52e949d7021e7bd0a Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 31 Jan 2024 12:10:14 +0900 Subject: [PATCH 17/30] chore: update for upstream Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/imu.launch.xml | 4 ++-- aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py | 3 ++- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/aip_x1_1_launch/launch/imu.launch.xml b/aip_x1_1_launch/launch/imu.launch.xml index 30207f8d..2008eda8 100644 --- a/aip_x1_1_launch/launch/imu.launch.xml +++ b/aip_x1_1_launch/launch/imu.launch.xml @@ -7,13 +7,13 @@ - + - + diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py index b91fe124..ed382e62 100644 --- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py @@ -38,7 +38,7 @@ def launch_setup(context, *args, **kwargs): { "input_topics": [ "/sensing/lidar/top/pointcloud", - "/sensing/lidar/front_center/pointcloud_raw", + "/sensing/lidar/front_center/pointcloud", ], "output_frame": LaunchConfiguration("base_frame"), "timeout_sec": 1.0, @@ -69,6 +69,7 @@ def launch_setup(context, *args, **kwargs): concat_loader = LoadComposableNodes( composable_node_descriptions=[concat_component], target_container=target_container, + condition=IfCondition(LaunchConfiguration("use_concat_filter")), ) return [container, concat_loader] From 299c2637fd0aa4590241b3cd1c0f2780be9cf8b3 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 31 Jan 2024 12:11:18 +0900 Subject: [PATCH 18/30] chore: comment out for avoid no diag stale Signed-off-by: 1222-takeshi --- .../launch/topic_state_monitor.launch.py | 42 +++++++++---------- 1 file changed, 21 insertions(+), 21 deletions(-) diff --git a/aip_x1_1_launch/launch/topic_state_monitor.launch.py b/aip_x1_1_launch/launch/topic_state_monitor.launch.py index 03cdc3e0..3bb7d2b7 100644 --- a/aip_x1_1_launch/launch/topic_state_monitor.launch.py +++ b/aip_x1_1_launch/launch/topic_state_monitor.launch.py @@ -64,7 +64,7 @@ def generate_launch_description(): name="topic_state_monitor_pandar_front_center_outlier_filtered", parameters=[ { - "topic": "/sensing/lidar/front_center/outlier_filtered/pointcloud", + "topic": "/sensing/lidar/front_center/pointcloud", "topic_type": "sensor_msgs/msg/PointCloud2", "best_effort": True, "diag_name": "sensing_topic_status", @@ -84,25 +84,7 @@ def generate_launch_description(): name="topic_state_monitor_rough_no_ground", parameters=[ { - "topic": "/perception/obstacle_segmentation/single_frame/pointcloud_raw", - "topic_type": "sensor_msgs/msg/PointCloud2", - "best_effort": True, - "diag_name": "sensing_topic_status", - "warn_rate": 5.0, - "error_rate": 1.0, - "timeout": 1.0, - "window_size": 10, - }, - ], - extra_arguments=[{"use_intra_process_comms": True}], - ) - topic_state_monitor_short_height_no_ground = ComposableNode( - package="topic_state_monitor", - plugin="topic_state_monitor::TopicStateMonitorNode", - name="topic_state_monitor_short_height_no_ground", - parameters=[ - { - "topic": "/perception/obstacle_segmentation/plane_fitting/pointcloud", + "topic": "/perception/obstacle_segmentation/single_frame/pointcloud", "topic_type": "sensor_msgs/msg/PointCloud2", "best_effort": True, "diag_name": "sensing_topic_status", @@ -114,6 +96,24 @@ def generate_launch_description(): ], extra_arguments=[{"use_intra_process_comms": True}], ) + # topic_state_monitor_short_height_no_ground = ComposableNode( + # package="topic_state_monitor", + # plugin="topic_state_monitor::TopicStateMonitorNode", + # name="topic_state_monitor_short_height_no_ground", + # parameters=[ + # { + # "topic": "/perception/obstacle_segmentation/plane_fitting/pointcloud", + # "topic_type": "sensor_msgs/msg/PointCloud2", + # "best_effort": True, + # "diag_name": "sensing_topic_status", + # "warn_rate": 5.0, + # "error_rate": 1.0, + # "timeout": 1.0, + # "window_size": 10, + # }, + # ], + # extra_arguments=[{"use_intra_process_comms": True}], + # ) # topic monitor for tamagawa IMU topic_state_monitor_imu_data = ComposableNode( @@ -146,7 +146,7 @@ def generate_launch_description(): topic_state_monitor_top_outlier_filtered, topic_state_monitor_pandar_front_center_outlier_filtered, topic_state_monitor_rough_no_ground, - topic_state_monitor_short_height_no_ground, + # topic_state_monitor_short_height_no_ground, topic_state_monitor_imu_data, ], output="screen", From 76c94be94c51a64be168e077b40b22bc68c46e77 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 9 Feb 2024 14:06:36 +0900 Subject: [PATCH 19/30] feat: add gnss.launch for x1_1 Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/gnss.launch.xml | 28 +++++++++++++++++++++++ aip_x1_1_launch/launch/sensing.launch.xml | 2 +- 2 files changed, 29 insertions(+), 1 deletion(-) create mode 100644 aip_x1_1_launch/launch/gnss.launch.xml diff --git a/aip_x1_1_launch/launch/gnss.launch.xml b/aip_x1_1_launch/launch/gnss.launch.xml new file mode 100644 index 00000000..26b0de4c --- /dev/null +++ b/aip_x1_1_launch/launch/gnss.launch.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/aip_x1_1_launch/launch/sensing.launch.xml b/aip_x1_1_launch/launch/sensing.launch.xml index 5699d526..843e2d79 100644 --- a/aip_x1_1_launch/launch/sensing.launch.xml +++ b/aip_x1_1_launch/launch/sensing.launch.xml @@ -23,7 +23,7 @@ - + From 843369abdc19bca8067397f43f8034575f9a16ff Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 9 Feb 2024 14:07:39 +0900 Subject: [PATCH 20/30] feat: use pointcloud_container Signed-off-by: 1222-takeshi --- aip_x1_1_launch/launch/lidar.launch.xml | 5 +--- .../launch/pandar_node_container.launch.py | 2 +- .../launch/pointcloud_preprocessor.launch.py | 23 ++----------------- aip_x1_1_launch/launch/sensing.launch.xml | 2 -- .../launch/velodyne_node_container.launch.py | 2 +- 5 files changed, 5 insertions(+), 29 deletions(-) diff --git a/aip_x1_1_launch/launch/lidar.launch.xml b/aip_x1_1_launch/launch/lidar.launch.xml index 5c1d680a..b2457f76 100644 --- a/aip_x1_1_launch/launch/lidar.launch.xml +++ b/aip_x1_1_launch/launch/lidar.launch.xml @@ -5,7 +5,6 @@ - @@ -20,8 +19,7 @@ - - + @@ -46,7 +44,6 @@ - diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py index 905607f5..4f51035b 100644 --- a/aip_x1_1_launch/launch/pandar_node_container.launch.py +++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py @@ -160,7 +160,7 @@ def create_parameter_dict(*args): ) container = ComposableNodeContainer( - name="pandar_node_container", + name=LaunchConfiguration("pointcloud_container_name"), namespace="pointcloud_preprocessor", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py index ed382e62..eab446b9 100644 --- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py @@ -19,7 +19,6 @@ from launch.conditions import IfCondition from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration -from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode @@ -48,31 +47,14 @@ def launch_setup(context, *args, **kwargs): extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) - # set container to run all required components in the same process - container = ComposableNodeContainer( - name=LaunchConfiguration("container_name"), - namespace="", - package="rclcpp_components", - executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[], - condition=UnlessCondition(LaunchConfiguration("use_pointcloud_container")), - output="screen", - ) - - target_container = ( - container - if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context) - else LaunchConfiguration("container_name") - ) - # load concat or passthrough filter concat_loader = LoadComposableNodes( composable_node_descriptions=[concat_component], - target_container=target_container, + target_container=LaunchConfiguration("pointcloud_container_name"), condition=IfCondition(LaunchConfiguration("use_concat_filter")), ) - return [container, concat_loader] + return [concat_loader] def generate_launch_description(): @@ -84,7 +66,6 @@ def add_launch_arg(name: str, default_value=None): add_launch_arg("base_frame", "base_link") add_launch_arg("use_multithread", "False") add_launch_arg("use_intra_process", "False") - add_launch_arg("use_pointcloud_container", "False") add_launch_arg("container_name", "pointcloud_preprocessor_container") set_container_executable = SetLaunchConfiguration( diff --git a/aip_x1_1_launch/launch/sensing.launch.xml b/aip_x1_1_launch/launch/sensing.launch.xml index 843e2d79..1419d429 100644 --- a/aip_x1_1_launch/launch/sensing.launch.xml +++ b/aip_x1_1_launch/launch/sensing.launch.xml @@ -2,7 +2,6 @@ - @@ -12,7 +11,6 @@ - diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py index aefe95b7..a660f023 100644 --- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -149,7 +149,7 @@ def create_parameter_dict(*args): # set container to run all required components in the same process container = ComposableNodeContainer( # need unique name, otherwise all processes in same container and the node names then clash - name="velodyne_node_container", + name=LaunchConfiguration("container_name"), namespace="pointcloud_preprocessor", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), From b42ff6011fa60db4012cc69f584ac12c78d0cff0 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 9 Feb 2024 14:08:07 +0900 Subject: [PATCH 21/30] fix: change topic name for ground segmentation Signed-off-by: 1222-takeshi --- .../launch/ground_segmentation/ground_segmentation.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py b/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py index a3687bec..9c76c90f 100644 --- a/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py +++ b/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py @@ -75,7 +75,7 @@ def create_additional_pipeline(self, lidar_name): plugin="pointcloud_preprocessor::CropBoxFilterComponent", name=f"{lidar_name}_crop_box_filter", remappings=[ - ("input", f"/sensing/lidar/{lidar_name}/outlier_filtered/pointcloud"), + ("input", f"/sensing/lidar/{lidar_name}/pointcloud"), ("output", f"{lidar_name}/range_cropped/pointcloud"), ], parameters=[ From 199563ea961e7921c131062e8dfed23fcf45de86 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 16 Feb 2024 13:40:06 +0900 Subject: [PATCH 22/30] feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi --- aip_x1_launch/launch/new_livox_horizon.launch.py | 2 +- aip_x1_launch/launch/pointcloud_preprocessor.launch.py | 6 +++--- aip_x1_launch/launch/topic_state_monitor.launch.py | 6 +++--- aip_x1_launch/launch/velodyne_node_container.launch.py | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/aip_x1_launch/launch/new_livox_horizon.launch.py b/aip_x1_launch/launch/new_livox_horizon.launch.py index de3f8b9a..e09d7350 100644 --- a/aip_x1_launch/launch/new_livox_horizon.launch.py +++ b/aip_x1_launch/launch/new_livox_horizon.launch.py @@ -52,7 +52,7 @@ def get_crop_box_min_range_component(context, livox_frame_id): name="crop_box_filter_min_range", remappings=[ ("input", "livox/tag_filtered/lidar" if use_tag_filter else "livox/lidar"), - ("output", "min_range_cropped/pointcloud"), + ("output", "pointcloud"), ], parameters=[ { diff --git a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py index ff012c8a..07dfb5a0 100644 --- a/aip_x1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_launch/launch/pointcloud_preprocessor.launch.py @@ -37,9 +37,9 @@ def launch_setup(context, *args, **kwargs): { "input_topics": [ "/sensing/lidar/top/pointcloud", - "/sensing/lidar/front_left/min_range_cropped/pointcloud", - "/sensing/lidar/front_right/min_range_cropped/pointcloud", - "/sensing/lidar/front_center/min_range_cropped/pointcloud", + "/sensing/lidar/front_left/pointcloud", + "/sensing/lidar/front_right/pointcloud", + "/sensing/lidar/front_center/pointcloud", ], "output_frame": LaunchConfiguration("base_frame"), "timeout_sec": 1.0, diff --git a/aip_x1_launch/launch/topic_state_monitor.launch.py b/aip_x1_launch/launch/topic_state_monitor.launch.py index b45b0f4e..8bb1bf68 100644 --- a/aip_x1_launch/launch/topic_state_monitor.launch.py +++ b/aip_x1_launch/launch/topic_state_monitor.launch.py @@ -99,7 +99,7 @@ def generate_launch_description(): name="topic_state_monitor_livox_front_left_min_range_cropped", parameters=[ { - "topic": "/sensing/lidar/front_left/min_range_cropped/pointcloud", + "topic": "/sensing/lidar/front_left/pointcloud", "topic_type": "sensor_msgs/msg/PointCloud2", "best_effort": True, "diag_name": "sensing_topic_status", @@ -117,7 +117,7 @@ def generate_launch_description(): name="topic_state_monitor_livox_front_right_min_range_cropped", parameters=[ { - "topic": "/sensing/lidar/front_right/min_range_cropped/pointcloud", + "topic": "/sensing/lidar/front_right/pointcloud", "topic_type": "sensor_msgs/msg/PointCloud2", "best_effort": True, "diag_name": "sensing_topic_status", @@ -135,7 +135,7 @@ def generate_launch_description(): name="topic_state_monitor_livox_front_center_min_range_cropped", parameters=[ { - "topic": "/sensing/lidar/front_center/min_range_cropped/pointcloud", + "topic": "/sensing/lidar/front_center/pointcloud", "topic_type": "sensor_msgs/msg/PointCloud2", "best_effort": True, "diag_name": "sensing_topic_status", diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py index 5e6ab29a..cf35bff9 100644 --- a/aip_x1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_launch/launch/velodyne_node_container.launch.py @@ -135,7 +135,7 @@ def create_parameter_dict(*args): # set container to run all required components in the same process container = ComposableNodeContainer( # need unique name, otherwise all processes in same container and the node names then clash - name="velodyne_node_container", + name="pointcloud_container", namespace="pointcloud_preprocessor", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), From b02dc5e781f7e765466acb4d528d1a5aa1e0bf69 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Tue, 20 Feb 2024 17:12:48 +0900 Subject: [PATCH 23/30] feat(aip_x1, aip_x1_1): use interpolate Signed-off-by: 1222-takeshi --- .../ground_segmentation.param.yaml | 28 +++++++++---- .../ground_segmentation.launch.py | 6 ++- .../launch/velodyne_node_container.launch.py | 42 +++++++++---------- .../launch/velodyne_node_container.launch.py | 28 +++++++++---- 4 files changed, 65 insertions(+), 39 deletions(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 5030bb95..0a4a0e23 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -17,20 +17,30 @@ negative: False common_ground_filter: - plugin: "ground_segmentation::RayGroundFilterComponent" + plugin: "ground_segmentation::ScanGroundFilterComponent" parameters: - initial_max_slope: 10.0 - general_max_slope: 10.0 - local_max_slope: 10.0 - min_height_threshold: 0.3 - radial_divider_angle: 1.0 - concentric_divider_distance: 0.0 - use_vehicle_footprint: True + global_slope_max_angle_deg: 10.0 + local_slope_max_angle_deg: 13.0 # recommended 30.0 for non elevation_grid_mode + split_points_distance_tolerance: 0.2 + use_virtual_ground_point: True + split_height_distance: 0.2 + radial_divider_angle_deg: 1.0 + + # common_ground_filter: + # plugin: "ground_segmentation::RayGroundFilterComponent" + # parameters: + # initial_max_slope: 10.0 + # general_max_slope: 10.0 + # local_max_slope: 10.0 + # min_height_threshold: 0.3 + # radial_divider_angle: 1.0 + # concentric_divider_distance: 0.0 + # use_vehicle_footprint: True short_height_obstacle_detection_area_filter: parameters: min_x: 0.0 - max_x: 19.6 # max_x: 18.0m + base_link2livox_front_center distance 1.6m + max_x: 21.6 # max_x: 20.0m + base_link2xt32_front_center distance 1.6m min_y: -4.0 max_y: 4.0 min_z: -0.5 diff --git a/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py b/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py index 9c76c90f..920a221a 100644 --- a/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py +++ b/aip_x1_1_launch/launch/ground_segmentation/ground_segmentation.launch.py @@ -50,6 +50,8 @@ def __init__(self, context): def get_vehicle_info(self): # TODO: need to rename key from "ros_params" to "global_params" after Humble gp = self.context.launch_configurations.get("ros_params", {}) + if not gp: + gp = dict(self.context.launch_configurations.get("global_params", {})) p = {} p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] @@ -82,8 +84,8 @@ def create_additional_pipeline(self, lidar_name): { "input_frame": LaunchConfiguration("base_frame"), "output_frame": LaunchConfiguration("base_frame"), - "min_z": self.vehicle_info["min_height_offset"], - "max_z": self.vehicle_info["max_height_offset"], + # "min_z": self.vehicle_info["min_height_offset"], + # "max_z": self.vehicle_info["max_height_offset"], }, self.ground_segmentation_param[f"{lidar_name}_crop_box_filter"]["parameters"], ], diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py index a660f023..38fdae48 100644 --- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -104,35 +104,35 @@ def create_parameter_dict(*args): ) ) - # nodes.append( - # ComposableNode( - # package="velodyne_pointcloud", - # plugin="velodyne_pointcloud::Interpolate", - # name="velodyne_interpolate_node", - # remappings=[ - # ("velodyne_points_ex", "self_cropped/pointcloud_ex"), - # ("velodyne_points_interpolate", "rectified/pointcloud"), - # ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), - # ], - # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - # ) - # ) - nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", - name="distortion_corrector_node", + package="velodyne_pointcloud", + plugin="velodyne_pointcloud::Interpolate", + name="velodyne_interpolate_node", remappings=[ - ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), - ("~/input/imu", "/sensing/imu/imu_data"), - ("~/input/pointcloud", "self_cropped/pointcloud_ex"), - ("~/output/pointcloud", "rectified/pointcloud_ex"), + ("velodyne_points_ex", "self_cropped/pointcloud_ex"), + ("velodyne_points_interpolate", "rectified/pointcloud"), + ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) ) + # nodes.append( + # ComposableNode( + # package="pointcloud_preprocessor", + # plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + # name="distortion_corrector_node", + # remappings=[ + # ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + # ("~/input/imu", "/sensing/imu/imu_data"), + # ("~/input/pointcloud", "self_cropped/pointcloud_ex"), + # ("~/output/pointcloud", "rectified/pointcloud_ex"), + # ], + # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + # ) + # ) + nodes.append( ComposableNode( package="pointcloud_preprocessor", diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py index cf35bff9..45aee0f1 100644 --- a/aip_x1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_launch/launch/velodyne_node_container.launch.py @@ -104,16 +104,30 @@ def create_parameter_dict(*args): ) ) + # nodes.append( + # ComposableNode( + # package="pointcloud_preprocessor", + # plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + # name="distortion_corrector_node", + # remappings=[ + # ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + # ("~/input/imu", "/sensing/imu/imu_data"), + # ("~/input/pointcloud", "self_cropped/pointcloud_ex"), + # ("~/output/pointcloud", "rectified/pointcloud_ex"), + # ], + # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + # ) + # ) + nodes.append( ComposableNode( - package="pointcloud_preprocessor", - plugin="pointcloud_preprocessor::DistortionCorrectorComponent", - name="distortion_corrector_node", + package="velodyne_pointcloud", + plugin="velodyne_pointcloud::Interpolate", + name="velodyne_interpolate_node", remappings=[ - ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), - ("~/input/imu", "/sensing/imu/imu_data"), - ("~/input/pointcloud", "self_cropped/pointcloud_ex"), - ("~/output/pointcloud", "rectified/pointcloud_ex"), + ("velodyne_points_ex", "self_cropped/pointcloud_ex"), + ("velodyne_points_interpolate", "rectified/pointcloud"), + ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) From 34b87e363899bed8fc57ddbba3ba542f79f93bb9 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Mon, 26 Feb 2024 13:26:00 +0900 Subject: [PATCH 24/30] feat(velodyne_node_container): use distortion_corrector Signed-off-by: 1222-takeshi --- .../launch/velodyne_node_container.launch.py | 42 +++++++++---------- .../launch/velodyne_node_container.launch.py | 42 +++++++++---------- 2 files changed, 42 insertions(+), 42 deletions(-) diff --git a/aip_x1_1_launch/launch/velodyne_node_container.launch.py b/aip_x1_1_launch/launch/velodyne_node_container.launch.py index 38fdae48..a660f023 100644 --- a/aip_x1_1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_1_launch/launch/velodyne_node_container.launch.py @@ -104,35 +104,35 @@ def create_parameter_dict(*args): ) ) - nodes.append( - ComposableNode( - package="velodyne_pointcloud", - plugin="velodyne_pointcloud::Interpolate", - name="velodyne_interpolate_node", - remappings=[ - ("velodyne_points_ex", "self_cropped/pointcloud_ex"), - ("velodyne_points_interpolate", "rectified/pointcloud"), - ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), - ], - extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - ) - ) - # nodes.append( # ComposableNode( - # package="pointcloud_preprocessor", - # plugin="pointcloud_preprocessor::DistortionCorrectorComponent", - # name="distortion_corrector_node", + # package="velodyne_pointcloud", + # plugin="velodyne_pointcloud::Interpolate", + # name="velodyne_interpolate_node", # remappings=[ - # ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), - # ("~/input/imu", "/sensing/imu/imu_data"), - # ("~/input/pointcloud", "self_cropped/pointcloud_ex"), - # ("~/output/pointcloud", "rectified/pointcloud_ex"), + # ("velodyne_points_ex", "self_cropped/pointcloud_ex"), + # ("velodyne_points_interpolate", "rectified/pointcloud"), + # ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), # ], # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], # ) # ) + nodes.append( + ComposableNode( + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + name="distortion_corrector_node", + remappings=[ + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("~/input/imu", "/sensing/imu/imu_data"), + ("~/input/pointcloud", "self_cropped/pointcloud_ex"), + ("~/output/pointcloud", "rectified/pointcloud_ex"), + ], + extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + ) + ) + nodes.append( ComposableNode( package="pointcloud_preprocessor", diff --git a/aip_x1_launch/launch/velodyne_node_container.launch.py b/aip_x1_launch/launch/velodyne_node_container.launch.py index 45aee0f1..9add7047 100644 --- a/aip_x1_launch/launch/velodyne_node_container.launch.py +++ b/aip_x1_launch/launch/velodyne_node_container.launch.py @@ -104,35 +104,35 @@ def create_parameter_dict(*args): ) ) - # nodes.append( - # ComposableNode( - # package="pointcloud_preprocessor", - # plugin="pointcloud_preprocessor::DistortionCorrectorComponent", - # name="distortion_corrector_node", - # remappings=[ - # ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), - # ("~/input/imu", "/sensing/imu/imu_data"), - # ("~/input/pointcloud", "self_cropped/pointcloud_ex"), - # ("~/output/pointcloud", "rectified/pointcloud_ex"), - # ], - # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], - # ) - # ) - nodes.append( ComposableNode( - package="velodyne_pointcloud", - plugin="velodyne_pointcloud::Interpolate", - name="velodyne_interpolate_node", + package="pointcloud_preprocessor", + plugin="pointcloud_preprocessor::DistortionCorrectorComponent", + name="distortion_corrector_node", remappings=[ - ("velodyne_points_ex", "self_cropped/pointcloud_ex"), - ("velodyne_points_interpolate", "rectified/pointcloud"), - ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), + ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), + ("~/input/imu", "/sensing/imu/imu_data"), + ("~/input/pointcloud", "self_cropped/pointcloud_ex"), + ("~/output/pointcloud", "rectified/pointcloud_ex"), ], extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], ) ) + # nodes.append( + # ComposableNode( + # package="velodyne_pointcloud", + # plugin="velodyne_pointcloud::Interpolate", + # name="velodyne_interpolate_node", + # remappings=[ + # ("velodyne_points_ex", "self_cropped/pointcloud_ex"), + # ("velodyne_points_interpolate", "rectified/pointcloud"), + # ("velodyne_points_interpolate_ex", "rectified/pointcloud_ex"), + # ], + # extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], + # ) + # ) + nodes.append( ComposableNode( package="pointcloud_preprocessor", From 7b74bd7beee7e9302c37c72eb31891dc22a3c955 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Mon, 26 Feb 2024 17:31:05 +0900 Subject: [PATCH 25/30] feat(ground_segmentation): change crop parameter Signed-off-by: 1222-takeshi --- .../config/ground_segmentation/ground_segmentation.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 0a4a0e23..9ff8500f 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -13,6 +13,7 @@ max_x: 100.0 min_y: -50.0 max_y: 50.0 + max_z: 2.5 min_z: -0.5 negative: False From 66eef555b9585c6216f1f6430bc6ef519cdd725b Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Wed, 28 Feb 2024 13:38:53 +0900 Subject: [PATCH 26/30] feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi --- .../ground_segmentation.param.yaml | 15 ++++++++++----- 1 file changed, 10 insertions(+), 5 deletions(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 9ff8500f..2795ceea 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -25,7 +25,12 @@ split_points_distance_tolerance: 0.2 use_virtual_ground_point: True split_height_distance: 0.2 - radial_divider_angle_deg: 1.0 + non_ground_height_threshold: 0.20 + grid_size_m: 0.5 + grid_mode_switch_radius: 20.0 + gnd_grid_buffer_size: 4 + detection_range_z_max: 2.5 + elevation_grid_mode: true # common_ground_filter: # plugin: "ground_segmentation::RayGroundFilterComponent" @@ -54,9 +59,9 @@ min_points: 400 min_inliers: 200 max_iterations: 50 - height_threshold: 0.15 + height_threshold: 0.10 plane_slope_threshold: 10.0 - voxel_size_x: 0.2 - voxel_size_y: 0.2 - voxel_size_z: 0.2 + voxel_size_x: 0.1 + voxel_size_y: 0.1 + voxel_size_z: 0.1 debug: False From f6bcfd7af39fb68bcc1e93651689f6542ba1d979 Mon Sep 17 00:00:00 2001 From: 1222-takeshi Date: Fri, 5 Apr 2024 01:53:42 +0900 Subject: [PATCH 27/30] chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi --- .../ground_segmentation.param.yaml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 2795ceea..0f3ea457 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -9,12 +9,12 @@ common_crop_box_filter: parameters: - min_x: -50.0 - max_x: 100.0 - min_y: -50.0 - max_y: 50.0 - max_z: 2.5 - min_z: -0.5 + min_x: -100.0 + max_x: 150.0 + min_y: -70.0 + max_y: 70.0 + margin_max_z: 0.0 # to extend the crop box max_z from vehicle_height + margin_min_z: -2.5 # to extend the crop box min_z from ground negative: False common_ground_filter: From 1aa106dd889f6530f9ec3a538c385f49b403286d Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 4 Apr 2024 17:01:33 +0000 Subject: [PATCH 28/30] ci(pre-commit): autofix --- aip_x1_1_launch/launch/pandar_node_container.launch.py | 2 ++ aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py | 2 +- common_sensor_launch/package.xml | 2 +- 3 files changed, 4 insertions(+), 2 deletions(-) diff --git a/aip_x1_1_launch/launch/pandar_node_container.launch.py b/aip_x1_1_launch/launch/pandar_node_container.launch.py index 4f51035b..fc102338 100644 --- a/aip_x1_1_launch/launch/pandar_node_container.launch.py +++ b/aip_x1_1_launch/launch/pandar_node_container.launch.py @@ -39,6 +39,7 @@ def get_pandar_monitor_info(): p = yaml.safe_load(f)["/**"]["ros__parameters"] return p + def get_vehicle_info(context): # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py @@ -56,6 +57,7 @@ def get_vehicle_info(context): p["max_height_offset"] = gp["vehicle_height"] return p + def launch_setup(context, *args, **kwargs): def create_parameter_dict(*args): result = {} diff --git a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py index eab446b9..dd2a2c17 100644 --- a/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py +++ b/aip_x1_1_launch/launch/pointcloud_preprocessor.launch.py @@ -31,7 +31,7 @@ def launch_setup(context, *args, **kwargs): name="concatenate_data", remappings=[ ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), - ("output", "concatenated/pointcloud") + ("output", "concatenated/pointcloud"), ], parameters=[ { diff --git a/common_sensor_launch/package.xml b/common_sensor_launch/package.xml index 7c636c0e..020add57 100644 --- a/common_sensor_launch/package.xml +++ b/common_sensor_launch/package.xml @@ -11,10 +11,10 @@ ament_cmake_auto dummy_diag_publisher - radar_tracks_msgs_converter radar_tracks_noise_filter velodyne_monitor + ament_lint_auto autoware_lint_common From b6a04b7eb70dd8ca064de26695a5310a7a06e9e8 Mon Sep 17 00:00:00 2001 From: Autumn60 Date: Fri, 5 Apr 2024 11:58:19 +0900 Subject: [PATCH 29/30] Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 --- .../ground_segmentation.param.yaml | 23 ++++++++++++------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 0f3ea457..67fa0da5 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -35,13 +35,18 @@ # common_ground_filter: # plugin: "ground_segmentation::RayGroundFilterComponent" # parameters: - # initial_max_slope: 10.0 + # min_x: -0.01 + # max_x: +0.01 + # min_y: -0.01 + # max_y: +0.01 + # use_vehicle_footprint: True # general_max_slope: 10.0 # local_max_slope: 10.0 - # min_height_threshold: 0.3 + # initial_max_slope: 10.0 # radial_divider_angle: 1.0 + # min_height_threshold: 0.3 # concentric_divider_distance: 0.0 - # use_vehicle_footprint: True + # reclass_distance_threshold: 0.1 short_height_obstacle_detection_area_filter: parameters: @@ -55,13 +60,15 @@ ransac_ground_filter: parameters: - outlier_threshold: 0.1 - min_points: 400 - min_inliers: 200 +# base_frame: base_link + unit_axis: "z" max_iterations: 50 - height_threshold: 0.10 - plane_slope_threshold: 10.0 + min_trial: 200 + min_points: 400 + outlier_threshold: 0.1 + plane_slope_threshold: 10.0 voxel_size_x: 0.1 voxel_size_y: 0.1 voxel_size_z: 0.1 + height_threshold: 0.10 debug: False From eb68b118c38970e3191450fa3d073c4bb450f64b Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Fri, 5 Apr 2024 05:01:08 +0000 Subject: [PATCH 30/30] ci(pre-commit): autofix --- .../config/ground_segmentation/ground_segmentation.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml index 67fa0da5..069f4302 100644 --- a/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml +++ b/aip_x1_1_launch/config/ground_segmentation/ground_segmentation.param.yaml @@ -66,7 +66,7 @@ min_trial: 200 min_points: 400 outlier_threshold: 0.1 - plane_slope_threshold: 10.0 + plane_slope_threshold: 10.0 voxel_size_x: 0.1 voxel_size_y: 0.1 voxel_size_z: 0.1