From 2e68acb40d238cbdff49d75fce2531f5b3cd7ed3 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Fri, 19 Jan 2024 10:00:05 +0900 Subject: [PATCH 1/5] feat: always separate lidar preprocessing from pointcloud_container (#796) * feat!: replace use_pointcloud_container Signed-off-by: kminoda * change default value Signed-off-by: kminoda * remove from planning Signed-off-by: kminoda * revert: revert change in planning.launch Signed-off-by: kminoda * revert: revert rename of use_pointcloud_container Signed-off-by: kminoda * revert: revert pointcloud_container launch Signed-off-by: kminoda * style(pre-commit): autofix * feat: move glog to pointcloud_container.launch.py * revert: revert unnecessary change Signed-off-by: kminoda * revert: revert glog porting Signed-off-by: kminoda * fix: fix comment in localization launch Signed-off-by: kminoda * style(pre-commit): autofix * remove pointcloud_container_name from localization launcher Signed-off-by: kminoda --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../components/tier4_localization_component.launch.xml | 8 ++++++-- .../components/tier4_perception_component.launch.xml | 1 - 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index a9f52a53b5..7ec292a381 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -4,15 +4,19 @@ + - - + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 37f351fd50..77ae8fa001 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -15,7 +15,6 @@ - From 0df6d814a87b744774135f7b47fa80c4ae3d815e Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 18 Jan 2024 20:44:59 +0900 Subject: [PATCH 2/5] chore(pointcloud_container): fix output log from screen to both (#804) Signed-off-by: kminoda --- autoware_launch/launch/pointcloud_container.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 87c46bce69..dfe9191d3c 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -43,7 +43,7 @@ def add_launch_arg(name: str, default_value=None): package="rclcpp_components", executable=LaunchConfiguration("container_executable"), composable_node_descriptions=[], - output="screen", + output="both", ) return LaunchDescription( From 53edde17f7efb6bb93b2cc614ecede64c502b889 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Sat, 20 Jan 2024 18:22:39 +0900 Subject: [PATCH 3/5] chore(pointcloud_container): move glog_component to autoware_launch (#805) --- autoware_launch/launch/pointcloud_container.launch.py | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index dfe9191d3c..650e555e27 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -19,6 +19,7 @@ from launch.conditions import UnlessCondition from launch.substitutions import LaunchConfiguration from launch_ros.actions import ComposableNodeContainer +from launch_ros.descriptions import ComposableNode def generate_launch_description(): @@ -37,12 +38,19 @@ def add_launch_arg(name: str, default_value=None): condition=IfCondition(LaunchConfiguration("use_multithread")), ) + glog_component = ComposableNode( + package="glog_component", + plugin="GlogComponent", + name="glog_component", + namespace="pointcloud_container", + ) + pointcloud_container = ComposableNodeContainer( name=LaunchConfiguration("container_name"), namespace="/", package="rclcpp_components", executable=LaunchConfiguration("container_executable"), - composable_node_descriptions=[], + composable_node_descriptions=[glog_component], output="both", ) From 1fd296a66f069ffe7f2ea17060ef0b4ab4beb033 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Thu, 1 Feb 2024 17:43:43 +0900 Subject: [PATCH 4/5] feat(detection): add container option (#834) feat: use pointcloud_container Signed-off-by: kminoda --- .../lidar_model/detection_class_remapper.param.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml index ed378ffa44..baea087c96 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml @@ -29,9 +29,9 @@ max_area_matrix: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS + 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK + 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE From b7bc8390cf3ae893345a0f6a271ecc296771d5e3 Mon Sep 17 00:00:00 2001 From: kminoda Date: Fri, 2 Feb 2024 17:52:48 +0900 Subject: [PATCH 5/5] feat(tier4_sensing_component): set use_pointcloud_container value Signed-off-by: kminoda --- .../launch/components/tier4_sensing_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml index f70f11ecbc..fe520e1fdc 100644 --- a/autoware_launch/launch/components/tier4_sensing_component.launch.xml +++ b/autoware_launch/launch/components/tier4_sensing_component.launch.xml @@ -5,7 +5,7 @@ - +