feat(perception): allow to specify perception mode in scenario (#279)

Signed-off-by: ktro2828 <[email protected]> Co-authored-by: Hayato Mizushima <[email protected]>
tier4 · Oct 15, 2023 · ba0d070 · ba0d070
1 parent c8d63c2
commit ba0d070
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Showing 9 changed files with 31 additions and 10 deletions.
diff --git a/driving_log_replayer/driving_log_replayer/launch_common.py b/driving_log_replayer/driving_log_replayer/launch_common.py
@@ -83,6 +83,7 @@ def add_launch_arg(
     add_launch_arg("vehicle_id", default_value="default", description="vehicle specific ID")
 
     # additional argument
+    add_launch_arg("perception_mode", default_value="lidar", description="perception mode")
     add_launch_arg(
         "t4_dataset_path",
         default_value="/opt/autoware/t4_dataset",
@@ -105,7 +106,6 @@ def get_autoware_launch(
     planning: str = "false",
     control: str = "false",
     scenario_simulation: str = "false",
-    perception_mode: str = "lidar",
     pose_source: str = "ndt",
     twist_source: str = "gyro_odom",
 ) -> launch.actions.IncludeLaunchDescription:
@@ -129,7 +129,7 @@ def get_autoware_launch(
             "planning": planning,
             "control": control,
             "scenario_simulation": scenario_simulation,
-            "perception_mode": perception_mode,
+            "perception_mode": LaunchConfiguration("perception_mode"),
             "pose_source": pose_source,
             "twist_source": twist_source,
             "rviz": "false",

diff --git a/driving_log_replayer_cli/simulation/generate.py b/driving_log_replayer_cli/simulation/generate.py
@@ -9,6 +9,14 @@
 
 
 class TestScriptGenerator:
+    PERCEPTION_MODES = (
+        "camera_lidar_radar_fusion",
+        "camera_lidar_fusion",
+        "lidar_radar_fusion",
+        "lidar",
+        "radar",
+    )
+
     def __init__(
         self,
         data_directory: str,
@@ -190,7 +198,7 @@ def __create_launch_command(
         print("launch command generated! => " + launch_command)  # noqa
         return launch_command
 
-    def __create_launch_command_with_t4_dataset(
+    def __create_launch_command_with_t4_dataset(  # noqa TODO: fix logic
         self,
         scenario_root: str,
         scenario_name: str,
@@ -263,6 +271,13 @@ def __create_launch_command_with_t4_dataset(
             launch_args += " sensor_model:=" + scenario_yaml_obj["SensorModel"]
             launch_args += " vehicle_id:=" + vehicle_id
             launch_args += " rviz:=true"
+            if scenario_yaml_obj.get("PerceptionMode") is not None:
+                perception_mode: str = scenario_yaml_obj["PerceptionMode"]
+                assert perception_mode in self.PERCEPTION_MODES, (
+                    f"perception_mode must be chosen from {self.PERCEPTION_MODES}, "
+                    f"but got {perception_mode}"
+                )
+                launch_args += " perception_mode:=" + perception_mode
 
             # t4_dataset
             launch_args += " t4_dataset_path:=" + t4_dataset_path

diff --git a/pyproject.toml b/pyproject.toml
@@ -1,6 +1,6 @@
 [tool.poetry]
 name = "driving_log_replayer_cli"
-version = "1.6.7"
+version = "1.7.0"
 description = "command line tool for driving_log_replayer"
 authors = [
   "Hayato Mizushima <[email protected]>",

diff --git a/sample/perception/scenario.fp.ja.yaml b/sample/perception/scenario.fp.ja.yaml
@@ -1,8 +1,9 @@
-ScenarioFormatVersion: 3.0.0
+ScenarioFormatVersion: 3.1.0
 ScenarioName: fp_sample
 ScenarioDescription: fp_sample
 SensorModel: sample_sensor_kit
 VehicleModel: sample_vehicle
+PerceptionMode: lidar
 Evaluation:
   UseCaseName: perception
   UseCaseFormatVersion: 0.6.0

diff --git a/sample/perception/scenario.fp.yaml b/sample/perception/scenario.fp.yaml
@@ -1,8 +1,9 @@
-ScenarioFormatVersion: 3.0.0
+ScenarioFormatVersion: 3.1.0
 ScenarioName: fp_sample
 ScenarioDescription: fp_sample
 SensorModel: sample_sensor_kit
 VehicleModel: sample_vehicle
+PerceptionMode: lidar
 Evaluation:
   UseCaseName: perception
   UseCaseFormatVersion: 0.6.0

diff --git a/sample/perception/scenario.ja.yaml b/sample/perception/scenario.ja.yaml
@@ -1,8 +1,9 @@
-ScenarioFormatVersion: 3.0.0
+ScenarioFormatVersion: 3.1.0
 ScenarioName: perception_use_bag_concat_data
 ScenarioDescription: sensing_module_off_and_use_pointcloud_in_the_rosbag
 SensorModel: sample_sensor_kit
 VehicleModel: sample_vehicle
+PerceptionMode: lidar
 Evaluation:
   UseCaseName: perception
   UseCaseFormatVersion: 0.6.0

diff --git a/sample/perception/scenario.yaml b/sample/perception/scenario.yaml
@@ -1,8 +1,9 @@
-ScenarioFormatVersion: 3.0.0
+ScenarioFormatVersion: 3.1.0
 ScenarioName: perception_use_bag_concat_data
 ScenarioDescription: sensing_module_off_and_use_pointcloud_in_the_rosbag
 SensorModel: sample_sensor_kit
 VehicleModel: sample_vehicle
+PerceptionMode: lidar
 Evaluation:
   UseCaseName: perception
   UseCaseFormatVersion: 0.6.0

diff --git a/sample/perception_2d/scenario.ja.yaml b/sample/perception_2d/scenario.ja.yaml
@@ -1,8 +1,9 @@
-ScenarioFormatVersion: 3.0.0
+ScenarioFormatVersion: 3.1.0
 ScenarioName: perception_2d_x2
 ScenarioDescription: perception_2d_x2
 SensorModel: aip_x2
 VehicleModel: gsm8
+PerceptionMode: camera_lidar_fusion
 Evaluation:
   UseCaseName: perception_2d
   UseCaseFormatVersion: 0.3.0

diff --git a/sample/perception_2d/scenario.yaml b/sample/perception_2d/scenario.yaml
@@ -1,8 +1,9 @@
-ScenarioFormatVersion: 3.0.0
+ScenarioFormatVersion: 3.1.0
 ScenarioName: perception_2d_x2
 ScenarioDescription: perception_2d_x2
 SensorModel: aip_x2
 VehicleModel: gsm8
+PerceptionMode: camera_lidar_fusion
 Evaluation:
   UseCaseName: perception_2d
   UseCaseFormatVersion: 0.3.0