Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat: remove use_pointcloud_container #6115

Merged
merged 11 commits into from
Feb 8, 2024
Merged

feat: remove use_pointcloud_container #6115

merged 11 commits into from
Feb 8, 2024

Conversation

kminoda
Copy link
Contributor

@kminoda kminoda commented Jan 19, 2024 •
edited
Loading

Description

Remove use_pointcloud_container as discussed in https://github.com/orgs/autowarefoundation/discussions/4112.

  • For individual node launcher such as lidar_centerpoint.launch.xml we leave the use_pointcloud_container interface as it is, so that we can launch the node itself without pointcloud_container.

MUST BE MERGED WITH:

Related links

Tests performed

  • Launched Autoware and confirmed that it works fine
$ ros2 component list /pointcloud_container
  1  /perception/obstacle_segmentation/crop_box_filter                                                                                                                                                             
  2  /sensing/lidar/concatenate_data                                                                     
  3  /pointcloud_container/glog_component                                                                
  4  /perception/object_recognition/detection/voxel_grid_downsample_filter                                                                                                                                         
  5  /perception/occupancy_grid_map/occupancy_grid_map_node                                                                                                                                                        
  6  /perception/object_recognition/detection/clustering/low_height_crop_box_filter                                                                                                                                
  7  /perception/object_recognition/detection/centerpoint/lidar_centerpoint                                                                                                                                        
  8  /perception/obstacle_segmentation/common_ground_filter                                                                                                                                                        
  9  /perception/object_recognition/detection/voxel_based_compare_map_filter                                                                                                                                       
  10  /perception/object_recognition/detection/clustering/euclidean_cluster                                                                                                                                        
  11  /perception/obstacle_segmentation/occupancy_grid_map_outlier_filter

Notes for reviewers

None

Interface changes

None

Effects on system behavior

None as long as you are using use_pointcloud_container = true. If you are using use_pointcloud_container = false, this PR will gather all the related nodes into one single container, resulting in less computational load.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.
  • The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Jan 19, 2024
This was referenced Jan 19, 2024
Merged
Merged
@kminoda kminoda added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 19, 2024
@kminoda kminoda mentioned this pull request Jan 19, 2024
Merged
@kminoda kminoda marked this pull request as ready for review January 29, 2024 05:10
@github-actions github-actions bot removed type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) labels Feb 1, 2024
@codecov Codecov
Copy link

codecov bot commented Feb 7, 2024 •
edited
Loading

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (7cb77dd) 14.86% compared to head (a188199) 14.42%.
Report is 2 commits behind head on main.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #6115      +/-   ##
==========================================
- Coverage   14.86%   14.42%   -0.45%     
==========================================
  Files        1845     1907      +62     
  Lines      126636   129584    +2948     
  Branches    37876    37545     -331     
==========================================
- Hits        18823    18687     -136     
- Misses      86655    89914    +3259     
+ Partials    21158    20983     -175
Flag Coverage Δ *Carryforward flag
differential ∅ <ø> (?)
total 14.42% <ø> (-0.45%) ⬇️ Carriedforward from 2f941ac

*This pull request uses carry forward flags. Click here to find out more.

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

miursh
miursh reviewed Feb 7, 2024
View reviewed changes
Copy link
Contributor

@miursh miursh left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

For sensing and perception part, LGTM

@kminoda
Copy link
Contributor Author

kminoda commented Feb 7, 2024

@yukkysaito Would you review this PR?

yukkysaito
yukkysaito approved these changes Feb 7, 2024
View reviewed changes
Copy link
Contributor

@yukkysaito yukkysaito left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM

@kminoda kminoda merged commit ae6485f into autowarefoundation:main Feb 8, 2024
21 of 23 checks passed
@kminoda kminoda deleted the feat/remove_use_pointcloud_container branch February 8, 2024 00:02
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
@kminoda @StepTurtle
feat: remove use_pointcloud_container (autowarefoundation#6115)
b23f361 
* feat!: remove use_pointcloud_container

Signed-off-by: kminoda <[email protected]>

* fix pre-commit

Signed-off-by: kminoda <[email protected]>

* fix: completely remove use_pointcloud_container after merge main

Signed-off-by: kminoda <[email protected]>

* fix: set use_pointcloud_container = true

Signed-off-by: kminoda <[email protected]>

* revert: revert change in probabilistic_occupancy_grid_map

Signed-off-by: kminoda <[email protected]>

* revert change in launcher of ogm

Signed-off-by: kminoda <[email protected]>

---------

Signed-off-by: kminoda <[email protected]>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
@kminoda @karishma1911
feat: remove use_pointcloud_container (autowarefoundation#6115)
96f6dae 
* feat!: remove use_pointcloud_container

Signed-off-by: kminoda <[email protected]>

* fix pre-commit

Signed-off-by: kminoda <[email protected]>

* fix: completely remove use_pointcloud_container after merge main

Signed-off-by: kminoda <[email protected]>

* fix: set use_pointcloud_container = true

Signed-off-by: kminoda <[email protected]>

* revert: revert change in probabilistic_occupancy_grid_map

Signed-off-by: kminoda <[email protected]>

* revert change in launcher of ogm

Signed-off-by: kminoda <[email protected]>

---------

Signed-off-by: kminoda <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@satoshi-ota satoshi-ota satoshi-ota approved these changes

@miursh miursh miursh approved these changes

@yukkysaito yukkysaito yukkysaito approved these changes

@soblin soblin Awaiting requested review from soblin soblin is a code owner

@YoshiRi YoshiRi Awaiting requested review from YoshiRi YoshiRi is a code owner

@rej55 rej55 Awaiting requested review from rej55 rej55 is a code owner

@kosuke55 kosuke55 Awaiting requested review from kosuke55 kosuke55 is a code owner

@kyoichi-sugahara kyoichi-sugahara Awaiting requested review from kyoichi-sugahara kyoichi-sugahara is a code owner

@mkuri mkuri Awaiting requested review from mkuri mkuri is a code owner

@shmpwk shmpwk Awaiting requested review from shmpwk shmpwk is a code owner

@taikitanaka3 taikitanaka3 Awaiting requested review from taikitanaka3 taikitanaka3 is a code owner

@TakaHoribe TakaHoribe Awaiting requested review from TakaHoribe TakaHoribe is a code owner

@takayuki5168 takayuki5168 Awaiting requested review from takayuki5168 takayuki5168 is a code owner

@TomohitoAndo TomohitoAndo Awaiting requested review from TomohitoAndo TomohitoAndo is a code owner

@tkimura4 tkimura4 Awaiting requested review from tkimura4 tkimura4 is a code owner

@zulfaqar-azmi-t4 zulfaqar-azmi-t4 Awaiting requested review from zulfaqar-azmi-t4 zulfaqar-azmi-t4 is a code owner

Assignees

@miursh miursh

Labels
component:launch Launch files, scripts and initialization tools. (auto-assigned) run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci)
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
4 participants
@kminoda @yukkysaito @miursh @satoshi-ota