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

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

Merged
merged 6 commits into from
Oct 15, 2023
Merged

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

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
80a7356
feat: add support of specifying `perception_mode` in scenario
ktro2828 Oct 13, 2023
ad8c6f3
refactor: add validation of perception mode
ktro2828 Oct 13, 2023
135b2e4
feat: add perception_mode into launcher of driving_log_replayer
ktro2828 Oct 13, 2023
a3e819e
chore: update sample scenario
ktro2828 Oct 13, 2023
e88132c
feat: update scenario format version
hayato-m126 Oct 15, 2023
ba248d3
chore: add noqa
hayato-m126 Oct 15, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions driving_log_replayer/driving_log_replayer/launch_common.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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",
Expand All @@ -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:
Expand All @@ -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",
Expand Down
17 changes: 16 additions & 1 deletion driving_log_replayer_cli/simulation/generate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand Down Expand Up @@ -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,
Expand Down Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion pyproject.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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]>",
Expand Down
3 changes: 2 additions & 1 deletion sample/perception/scenario.fp.ja.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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
Expand Down
3 changes: 2 additions & 1 deletion sample/perception/scenario.fp.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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
Expand Down
3 changes: 2 additions & 1 deletion sample/perception/scenario.ja.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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
Expand Down
3 changes: 2 additions & 1 deletion sample/perception/scenario.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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
Expand Down
3 changes: 2 additions & 1 deletion sample/perception_2d/scenario.ja.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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
Expand Down
3 changes: 2 additions & 1 deletion sample/perception_2d/scenario.yaml
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -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
Expand Down