Skip to content

Commit

Permalink
Merge pull request #1103 from tier4/sync-awf-latest
Browse files Browse the repository at this point in the history
chore: sync awf-latest
  • Loading branch information
tier4-autoware-public-bot[bot] authored Jan 18, 2024
2 parents 1016584 + 90075ce commit 4d623fe
Show file tree
Hide file tree
Showing 41 changed files with 2,029 additions and 1,825 deletions.
80 changes: 41 additions & 39 deletions .github/CODEOWNERS

Large diffs are not rendered by default.

Original file line number Diff line number Diff line change
Expand Up @@ -267,6 +267,8 @@
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
</include>
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -296,6 +296,8 @@
<arg name="input/image7" value="$(var image_raw7)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="objects"/>
<arg name="model_name" value="$(var lidar_detection_model)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
</include>
Expand Down
3 changes: 3 additions & 0 deletions launch/tier4_perception_launch/launch/perception.launch.xml
Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,9 @@
<arg name="centerpoint_model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
<arg name="centerpoint_model_path" default="$(var data_path)/lidar_centerpoint"/>

<!-- PointPainting model parameters -->
<arg name="pointpainting_model_path" default="$(var data_path)/image_projection_based_fusion"/>

<!-- Common parameters -->
<arg name="input/pointcloud" default="/sensing/lidar/concatenated/pointcloud" description="The topic will be used in the detection module"/>
<arg name="mode" default="camera_lidar_fusion" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
Expand Down
2 changes: 1 addition & 1 deletion perception/radar_tracks_msgs_converter/README.md
Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ This package converts from [radar_msgs/msg/RadarTracks](https://github.com/ros-p
- `new_frame_id` (string): The header frame of the output topic.
- Default parameter is "base_link"
- `use_twist_compensation` (bool): If the parameter is true, then the twist of the output objects' topic is compensated by ego vehicle motion.
- Default parameter is "false"
- Default parameter is "true"
- `use_twist_yaw_compensation` (bool): If the parameter is true, then the ego motion compensation will also consider yaw motion of the ego vehicle.
- Default parameter is "false"
- `static_object_speed_threshold` (float): Specify the threshold for static object speed which determines the flag `is_stationary` [m/s].
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@
<arg name="output/radar_detected_objects" default="output/radar_detected_objects"/>
<arg name="output/radar_tracked_objects" default="output/radar_tracked_objects"/>
<arg name="update_rate_hz" default="20.0"/>
<arg name="use_twist_compensation" default="false"/>
<arg name="use_twist_compensation" default="true"/>
<arg name="use_twist_yaw_compensation" default="false"/>
<arg name="static_object_speed_threshold" default="1.0"/>

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -784,6 +784,7 @@ void BehaviorPathPlannerNode::onTrafficSignals(const TrafficSignalArray::ConstSh
{
std::lock_guard<std::mutex> lock(mutex_pd_);

planner_data_->traffic_light_id_map.clear();
for (const auto & signal : msg->signals) {
TrafficSignalStamped traffic_signal;
traffic_signal.stamp = msg->stamp;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -8,4 +8,5 @@
max_future_movement_time: 10.0 # [second]
threshold_yaw_diff: 0.523 # [rad]
adjacent_extend_width: 1.5 # [m]
opposite_adjacent_extend_width: 1.5 # [m]
enable_rtc: false # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval
6 changes: 2 additions & 4 deletions planning/behavior_velocity_blind_spot_module/src/debug.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -145,14 +145,12 @@ visualization_msgs::msg::MarkerArray BlindSpotModule::createDebugMarkerArray()

appendMarkerArray(
createLaneletPolygonsMarkerArray(
debug_data_.conflict_areas_for_blind_spot, "conflict_area_for_blind_spot", module_id_, 0.0,
0.5, 0.5),
debug_data_.conflict_areas, "conflict_area", module_id_, 0.0, 0.5, 0.5),
&debug_marker_array, now);

appendMarkerArray(
createLaneletPolygonsMarkerArray(
debug_data_.detection_areas_for_blind_spot, "detection_area_for_blind_spot", module_id_, 0.5,
0.0, 0.0),
debug_data_.detection_areas, "detection_area", module_id_, 0.5, 0.0, 0.0),
&debug_marker_array, now);

appendMarkerArray(
Expand Down
2 changes: 2 additions & 0 deletions planning/behavior_velocity_blind_spot_module/src/manager.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,8 @@ BlindSpotModuleManager::BlindSpotModuleManager(rclcpp::Node & node)
getOrDeclareParameter<double>(node, ns + ".threshold_yaw_diff");
planner_param_.adjacent_extend_width =
getOrDeclareParameter<double>(node, ns + ".adjacent_extend_width");
planner_param_.opposite_adjacent_extend_width =
getOrDeclareParameter<double>(node, ns + ".opposite_adjacent_extend_width");
}

void BlindSpotModuleManager::launchNewModules(
Expand Down
Loading

0 comments on commit 4d623fe

Please sign in to comment.