fix: config for awsim #289
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Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
Signed-off-by: Autumn60 <[email protected]>
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* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* feat: update aip_x1 to use XT32 Signed-off-by: 1222-takeshi <[email protected]> fix(velodyne_node_container): fix param load failure Signed-off-by: 1222-takeshi <[email protected]> fix(diagnostic_aggregator): update sensor kit param (#22) (#23) * fix(diagnostic_aggregator): Modified aggregator confinguration to V1' * fix path on diagnostic aggregator fix: add vehicle_velocity_converter.launch (#146) fix: add vehicle_velocity_converter.launch to aip_x1_1_launch Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option and add gnss imu Signed-off-by: 1222-takeshi <[email protected]> feat: add GNSS Signed-off-by: 1222-takeshi <[email protected]> feat: update for upstream Signed-off-by: 1222-takeshi <[email protected]> feat: add use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: change topic name Signed-off-by: 1222-takeshi <[email protected]> feat: add node alive monitoring Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss Signed-off-by: 1222-takeshi <[email protected]> feat: update ground_segmentation param Signed-off-by: 1222-takeshi <[email protected]> feat: remove use_awsim option Signed-off-by: 1222-takeshi <[email protected]> feat: add cropbox filter Signed-off-by: 1222-takeshi <[email protected]> feat: add diag of gyro_bias_validator Signed-off-by: 1222-takeshi <[email protected]> chore: update for upstream Signed-off-by: 1222-takeshi <[email protected]> chore: comment out for avoid no diag stale Signed-off-by: 1222-takeshi <[email protected]> feat: add gnss.launch for x1_1 Signed-off-by: 1222-takeshi <[email protected]> feat: use pointcloud_container Signed-off-by: 1222-takeshi <[email protected]> fix: change topic name for ground segmentation Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1_launch): rename some topics Signed-off-by: 1222-takeshi <[email protected]> feat(aip_x1, aip_x1_1): use interpolate Signed-off-by: 1222-takeshi <[email protected]> feat(velodyne_node_container): use distortion_corrector Signed-off-by: 1222-takeshi <[email protected]> feat(ground_segmentation): change crop parameter Signed-off-by: 1222-takeshi <[email protected]> feat(obstacle_segmentation): relax ground_segmentation threshold Signed-off-by: 1222-takeshi <[email protected]> chore(ground_segmentation): change parameter name (#229) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore(ground_segmentation): add missing parameters (#231) * chore(ground_segmentation): change parameter name Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix * Add missing params to ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box params in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Fix crop_box param in ground_segmentation.param.yaml Signed-off-by: Autumn60 <[email protected]> * Revert crop_box params Signed-off-by: Autumn60 <[email protected]> * Add cropbox param calc to ground_segmentation.launch.py Signed-off-by: Autumn60 <[email protected]> * chore(ground_segmentation): change margin_max_z for cropbox Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Autumn60 <[email protected]> feat: use nebula driver for aip_x1_1 sensor configuration (#235) * feat: use nebula driver for aip_x1_1 Signed-off-by: 1222-takeshi <[email protected]> * ci(pre-commit): autofix * chore: remove comment out Signed-off-by: 1222-takeshi <[email protected]> * chore: remove unnecessary changes Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> chore: remove aip_x1 and rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: rename aip_x1_1 to aip_x1 Signed-off-by: 1222-takeshi <[email protected]> chore: remove unused file and fix bug Signed-off-by: 1222-takeshi <[email protected]> ci(pre-commit): autofix fix: diag list Signed-off-by: 1222-takeshi <[email protected]> fix cancat lidar topics Signed-off-by: 1222-takeshi <[email protected]> * feat: add input_offset parameter to pointcloud preprocessor launch Signed-off-by: asa-naki <[email protected]> * feat: nebula_hw_monitor is not started except when simulation is running Signed-off-by: 1222-takeshi <[email protected]> * chore(blockage_diag): update param for aip_x1_launch (#268) * add enable_blockage_diag argument to lidar.launch.xml Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix: change container name Signed-off-by: 1222-takeshi <[email protected]> * chore: add prefix for rosdep Signed-off-by: 1222-takeshi <[email protected]> * fix: config for awsim (#289) * delete unnecessary arg passing Signed-off-by: Autumn60 <[email protected]> * fix gnss_poser param Signed-off-by: Autumn60 <[email protected]> * Adjust gnss launching condition Signed-off-by: Autumn60 <[email protected]> * fix invalid tag usage Signed-off-by: Autumn60 <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: replace use_awsim to use_gnss (#292) replace use_awsim to use_gnss Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]> Signed-off-by: asa-naki <[email protected]> Signed-off-by: Autumn60 <[email protected]> Signed-off-by: Autumn60 <[email protected]> Co-authored-by: 1222-takeshi <[email protected]> Co-authored-by: asa-naki <[email protected]> Co-authored-by: Autumn60 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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このPRには以下の変更が含まれます。
lidar.launch.xmlに渡すパラメータの修正lidar.launch.xmlに使われていないパラメータuse_awsimが渡されていたため、その行を削除gnss_poserのパラメータ修正gnss_poserパッケージに含まれるデフォルトのコンフィグファイルはgnss_base_frameがgnss_base_linkとなっているなど、現状のX1のものと異なっていたためX1用のコンフィグファイルを追加し、それを利用するようにしましたGNSS関連の起動条件修正
従来の「AWSIMでも実機でも起動しない」条件を「AWSIMのときのみ起動する」条件に変更。
これにより、
NavSatFix->PoseWithCovarianceの変換がAWSIM実行時にも動作するため、eagleye利用時と非利用時でAWSIMのバイナリを分ける必要がなくなります。eagleye非利用時： AWSIM ->
(PoseWithCovarianceMsg)->ekf_localizereagleye利用時： AWSIM ->
(NavSatFixMsg)->eagleyeeagleye非利用時： AWSIM ->
(NavSatFixMsg)->gnss_poser->(PoseWithCovarianceMsg)->ekf_localizereagleye利用時： AWSIM ->
(NavSatFixMsg)->eagleye備考：
パラメータの意味としては、
use_awsimパラメータの名前をuse_gnssパラメータに変更し、autoware_launch.x1パッケージ側で[AWSIM使うかどうか → GNSS起動是非の判断]をするべきですが、autoware_launch.x1側の修正と同時に行う必要があるため、一旦このままにしています。