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chore: sync x2/v3.0.0 #249

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chore: sync x2/v3.0.0 #249

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2c8c8fe
feat: add imu_monitor and dummy diag (#212)
h-ohta Feb 16, 2024
2c010dc
chore(aip_x2): tune blockage diag (#216)
0x126 Mar 11, 2024
e930fea
chore: tune dual_return_filter (#221)
0x126 Mar 15, 2024
e85d0fc
feat(aip_x2_launch): add topic state monitor for camera, radar, gnss …
TomohitoAndo Mar 26, 2024
0e01443
chore(blockage_diag): update param for aip_x2_launch (#223)
badai-nguyen Mar 19, 2024
46d4ef9
chore: tune blockage diag (#233)
0x126 Apr 18, 2024
45b2759
feat(aip_x2): add dummy diag (#236)
h-ohta May 8, 2024
4cfcbad
chore(aip_x2): change dummy diagnostics of imu_monitor from Warn to O…
TomohitoAndo May 14, 2024
342f381
feat: use new diagsnotics for camera topic rate (#240)
0x126 May 17, 2024
17024f1
chore(dual_return_filter): tuning for visibility diag (#242)
0x126 May 27, 2024
9dad4f0
chore(dummy_diag_publisher): add left upper visibility validation (#243)
TomohitoAndo May 27, 2024
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8 changes: 5 additions & 3 deletions aip_x2_launch/config/dual_return_filter.param.yaml
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Expand Up @@ -2,9 +2,11 @@
ros__parameters:
roi_mode: "Fixed_azimuth_ROI" # description="options: `No_ROI`, `Fixed_xyz_ROI` or `Fixed_azimuth_ROI`"/>
weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
visibility_error_threshold: 0.5
visibility_warn_threshold: 0.9
max_distance: 5.0
visibility_error_threshold: 0.95
visibility_warn_threshold: 0.97
min_azimuth_deg: 100.0
max_azimuth_deg: 260.0
max_distance: 10.0
x_max: 18.0
x_min: -12.0
y_max: 2.0
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87 changes: 77 additions & 10 deletions aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -13,17 +13,84 @@
ros__parameters:
required_diags:
# gnss
gnss: default
## /sensing/gnss/001-connection
"topic_state_monitor_gnss_pose: gnss_topic_status": default

## /sensing/gnss/002-quality
"septentrio_driver: Quality indicators": default

# imu
## /sensing/imu/001-monitor
"imu_monitor: yaw_rate_status": default

## /sensing/imu/002-connection
"topic_state_monitor_imu_data: imu_topic_status": default

## /sensing/imu/003-gyro_bias
"gyro_bias_estimator: gyro_bias_validator": default

# lidar
pandar_connection: default
pandar_temperature: default
pandar_ptp: default
"left_upper: visibility_validation": default
blockage_validation: default
concat_status: default
## /sensing/lidar/pndr/001-connection

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"pandar_monitor: /sensing/lidar/front_lower: pandar_connection": default
"pandar_monitor: /sensing/lidar/front_upper: pandar_connection": default
"pandar_monitor: /sensing/lidar/left_lower: pandar_connection": default
"pandar_monitor: /sensing/lidar/left_upper: pandar_connection": default
"pandar_monitor: /sensing/lidar/right_lower: pandar_connection": default
"pandar_monitor: /sensing/lidar/right_upper: pandar_connection": default
"pandar_monitor: /sensing/lidar/rear_lower: pandar_connection": default
"pandar_monitor: /sensing/lidar/rear_upper: pandar_connection": default

sensing_topic_status: default
## /sensing/lidar/pndr/002-temperature

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"pandar_monitor: /sensing/lidar/front_lower: pandar_temperature": default
"pandar_monitor: /sensing/lidar/front_upper: pandar_temperature": default
"pandar_monitor: /sensing/lidar/left_lower: pandar_temperature": default
"pandar_monitor: /sensing/lidar/left_upper: pandar_temperature": default
"pandar_monitor: /sensing/lidar/right_lower: pandar_temperature": default
"pandar_monitor: /sensing/lidar/right_upper: pandar_temperature": default
"pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature": default
"pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature": default

# imu
gyro_bias_estimator: default
## /sensing/lidar/pndr/003-ptp

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"pandar_monitor: /sensing/lidar/front_lower: pandar_ptp": default
"pandar_monitor: /sensing/lidar/front_upper: pandar_ptp": default
"pandar_monitor: /sensing/lidar/left_lower: pandar_ptp": default
"pandar_monitor: /sensing/lidar/left_upper: pandar_ptp": default
"pandar_monitor: /sensing/lidar/right_lower: pandar_ptp": default
"pandar_monitor: /sensing/lidar/right_upper: pandar_ptp": default
"pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp": default
"pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": default

## /sensing/camera/001-connection
"v4l2_camera_camera0: capture_status": default
"v4l2_camera_camera1: capture_status": default
"v4l2_camera_camera2: capture_status": default
"v4l2_camera_camera3: capture_status": default
"v4l2_camera_camera4: capture_status": default
"v4l2_camera_camera5: capture_status": default
"v4l2_camera_camera6: capture_status": default
"v4l2_camera_camera7: capture_status": default

## /sensing/radar/001-connection
"topic_state_monitor_radar_front_center: radar_front_center_topic_status": default
"topic_state_monitor_radar_front_left: radar_front_left_topic_status": default
"topic_state_monitor_radar_front_right: radar_front_right_topic_status": default
"topic_state_monitor_radar_rear_center: radar_rear_center_topic_status": default
"topic_state_monitor_radar_rear_left: radar_rear_left_topic_status": default
"topic_state_monitor_radar_rear_right: radar_rear_right_topic_status": default

## /others/002-blockage_validation
"blockage_return_diag: /sensing/lidar/front_lower: blockage_validation": default
"blockage_return_diag: /sensing/lidar/front_upper: blockage_validation": default
"blockage_return_diag: /sensing/lidar/left_lower: blockage_validation": default
"blockage_return_diag: /sensing/lidar/left_upper: blockage_validation": default
"blockage_return_diag: /sensing/lidar/right_lower: blockage_validation": default
"blockage_return_diag: /sensing/lidar/right_upper: blockage_validation": default
"blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation": default
"blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation": default

## /others/004-concat_status
"concatenate_data: concat_status": default

## /others/005-visibility_validation/front_lower
"dual_return_filter: /sensing/lidar/front_lower: visibility_validation": default
"dual_return_filter: /sensing/lidar/left_upper: visibility_validation": default
4 changes: 4 additions & 0 deletions aip_x2_launch/launch/imu.launch.xml
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Expand Up @@ -36,6 +36,10 @@
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
<arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
</include>

<include file="$(find-pkg-share imu_monitor)/launch/imu_monitor.launch.xml">
<arg name="config_file" value="$(find-pkg-share imu_monitor)/config/imu_monitor.param.yaml"/>
</include>
</group>

</launch>
24 changes: 16 additions & 8 deletions aip_x2_launch/launch/lidar.launch.xml
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Expand Up @@ -21,9 +21,10 @@
<arg name="scan_phase" value="270.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="return_mode" value="Strongest" />
<arg name="return_mode" value="Dual" />
<arg name="min_azimuth_deg" value="135.0"/>
<arg name="max_azimuth_deg" value="225.0"/>
<arg name="is_channel_order_top2down" value="true"/>
Expand All @@ -45,7 +46,8 @@
<arg name="gps_port" value="10131" />
<arg name="scan_phase" value="270.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="return_mode" value="First" />
Expand All @@ -70,6 +72,7 @@
<arg name="scan_phase" value="305.0" />
<arg name="angle_range" value="[90.0, 305.0]"/>
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 305.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="225.0"/>
Expand All @@ -95,9 +98,10 @@
<arg name="gps_port" value="10132" />
<arg name="scan_phase" value="270.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[120.0, 240.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="54" />
<arg name="horizontal_ring_id" value="24" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
Expand All @@ -120,14 +124,15 @@
<arg name="scan_phase" value="270.0" />
<arg name="angle_range" value="[55.0, 270.0]"/>
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[55.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="45.0"/>
<arg name="max_azimuth_deg" value="135.0"/>
<arg name="is_channel_order_top2down" value="true"/>
<arg name="horizontal_resolution" value="0.4"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
<arg name="return_mode" value="Dual" />
<arg name="return_mode" value="Strongest" />
<arg name="calibration" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/pandar/right_upper.csv" />
<arg name="launch_driver" value="$(var launch_driver)" />
<arg name="dual_return_filter_param_file" value="$(var dual_return_filter_param_file)" />
Expand All @@ -145,9 +150,10 @@
<arg name="gps_port" value="10133" />
<arg name="scan_phase" value="270.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[150.0, 240.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="54" />
<arg name="horizontal_ring_id" value="24" />
<arg name="is_channel_order_top2down" value="false"/>
<arg name="horizontal_resolution" value="0.6"/>
<arg name="enable_blockage_diag" value="$(var enable_blockage_diag)"/>
Expand All @@ -170,6 +176,7 @@
<arg name="scan_phase" value="180.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.5, 200.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="40" />
<arg name="horizontal_ring_id" value="12" />
<arg name="min_azimuth_deg" value="135.0"/>
Expand All @@ -195,7 +202,8 @@
<arg name="gps_port" value="10134" />
<arg name="scan_phase" value="180.0" />
<arg name="angle_range" value="[90.0, 270.0]"/>
<arg name="distance_range" value="[0.1, 7.5]"/>
<arg name="distance_range" value="[0.1, 20.0]"/>
<arg name="blockage_range" value="[90.0, 270.0]"/>
<arg name="vertical_bins" value ="64" />
<arg name="horizontal_ring_id" value="40" />
<arg name="is_channel_order_top2down" value="false"/>
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3 changes: 2 additions & 1 deletion aip_x2_launch/launch/pandar_node_container.launch.py
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Expand Up @@ -255,7 +255,7 @@ def create_parameter_dict(*args):
],
parameters=[
{
"angle_range": LaunchConfiguration("angle_range"),
"angle_range": LaunchConfiguration("blockage_range"),
"horizontal_ring_id": LaunchConfiguration("horizontal_ring_id"),
"vertical_bins": LaunchConfiguration("vertical_bins"),
"is_channel_order_top2down": LaunchConfiguration("is_channel_order_top2down"),
Expand Down Expand Up @@ -348,6 +348,7 @@ def add_launch_arg(name: str, default_value=None):
add_launch_arg("use_intra_process", "true")
add_launch_arg("vertical_bins", "40")
add_launch_arg("horizontal_ring_id", "12")
add_launch_arg("blockage_range", "[270.0, 90.0]")

add_launch_arg("min_azimuth_deg", "135.0")
add_launch_arg("max_azimuth_deg", "225.0")
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4 changes: 4 additions & 0 deletions aip_x2_launch/launch/sensing.launch.xml
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Expand Up @@ -35,6 +35,10 @@
<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
</include>

<!-- Topic state monitor for each sensor -->
<include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.py"/>

</group>

</launch>
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