Merge branch 'awf-latest' into refactor/visualize_drivable_lanes_for_shift_path

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

Author: kyoichi-sugahara

.github/workflows/spell-check-differential.yaml

@@ -8,7 +8,8 @@
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
-
+  <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
+  <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>

common/autoware_auto_perception_rviz_plugin/package.xml

@@ -8,6 +8,7 @@
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="yusuke.muramatsu@tier4.jp">Yusuke Muramatsu</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
+  <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

common/object_recognition_utils/package.xml

@@ -7,6 +7,7 @@
   <maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
   <maintainer email="yusuke.muramatsu@tier4.jp">Yusuke Muramatsu</maintainer>
   <maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
+  <maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>

common/perception_utils/package.xml

@@ -7,6 +7,9 @@
   <maintainer email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</maintainer>
   <maintainer email="takamasa.horibe@tier4.jp">Takamasa Horibe</maintainer>
   <maintainer email="makoto.kurihara@tier4.jp">Makoto Kurihara</maintainer>
+  <maintainer email="mamoru.sobue@tier4.jp">Mamoru Sobue</maintainer>
+  <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+
   <license>Apache License 2.0</license>
 
   <author email="kyoichi.sugahara@tier4.jp">Kyoichi Sugahara</author>

control/control_validator/package.xml

@@ -1,26 +1,66 @@
 <launch>
+  <!-- map files -->
+  <arg name="pointcloud_map_path"/>
+  <arg name="pointcloud_map_metadata_path"/>
+  <arg name="lanelet2_map_path"/>
+  <arg name="map_projector_info_path"/>
+
   <!-- Parameter files -->
   <arg name="pointcloud_map_loader_param_path"/>
   <arg name="lanelet2_map_loader_param_path"/>
 
-  <arg name="map_path" default=""/>
-  <arg name="lanelet2_map_path" default="$(var map_path)/lanelet2_map.osm"/>
-  <arg name="pointcloud_map_path" default="$(var map_path)/pointcloud_map.pcd"/>
+  <!-- whether use intra-process -->
+  <arg name="use_intra_process" default="false"/>
+
+  <!-- select container type -->
+  <arg name="use_multithread" default="false"/>
+  <let name="container_type" value="component_container" unless="$(var use_multithread)"/>
+  <let name="container_type" value="component_container_mt" if="$(var use_multithread)"/>
 
   <group>
     <push-ros-namespace namespace="map"/>
-    <include file="$(find-pkg-share map_loader)/launch/lanelet2_map_loader.launch.xml">
-      <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
-      <arg name="lanelet2_map_loader_param_path" value="$(var lanelet2_map_loader_param_path)"/>
-    </include>
 
-    <include file="$(find-pkg-share map_loader)/launch/pointcloud_map_loader.launch.xml">
-      <arg name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
-      <arg name="pointcloud_map_loader_param_path" value="$(var pointcloud_map_loader_param_path)"/>
-    </include>
+    <node_container pkg="rclcpp_components" exec="$(var container_type)" name="map_container" namespace="" output="screen">
+      <composable_node pkg="map_loader" plugin="PointCloudMapLoaderNode" name="pointcloud_map_loader">
+        <param from="$(var pointcloud_map_loader_param_path)"/>
+        <param name="pcd_paths_or_directory" value="[$(var pointcloud_map_path)]"/>
+        <param name="pcd_metadata_path" value="$(var pointcloud_map_metadata_path)"/>
+        <remap from="output/pointcloud_map" to="pointcloud_map"/>
+        <remap from="output/pointcloud_map_metadata" to="pointcloud_map_metadata"/>
+        <remap from="service/get_partial_pcd_map" to="/map/get_partial_pointcloud_map"/>
+        <remap from="service/get_differential_pcd_map" to="/map/get_differential_pointcloud_map"/>
+        <remap from="service/get_selected_pcd_map" to="/map/get_selected_pointcloud_map"/>
+        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+      </composable_node>
 
-    <include file="$(find-pkg-share map_tf_generator)/launch/map_tf_generator.launch.xml">
-      <arg name="input_vector_map_topic" value="/map/vector_map"/>
+      <composable_node pkg="map_loader" plugin="Lanelet2MapLoaderNode" name="lanelet2_map_loader">
+        <param from="$(var lanelet2_map_loader_param_path)"/>
+        <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+        <remap from="output/lanelet2_map" to="vector_map"/>
+        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+      </composable_node>
+
+      <composable_node pkg="map_loader" plugin="Lanelet2MapVisualizationNode" name="lanelet2_map_visualization">
+        <remap from="input/lanelet2_map" to="vector_map"/>
+        <remap from="output/lanelet2_map_marker" to="vector_map_marker"/>
+        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+      </composable_node>
+
+      <composable_node pkg="map_tf_generator" plugin="VectorMapTFGeneratorNode" name="vector_map_tf_generator">
+        <param name="map_frame" value="map"/>
+        <param name="viewer_frame" value="viewer"/>
+        <extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
+      </composable_node>
+    </node_container>
+
+    <node pkg="map_loader" exec="map_hash_generator" name="map_hash_generator">
+      <param name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
+      <param name="pointcloud_map_path" value="$(var pointcloud_map_path)"/>
+    </node>
+
+    <include file="$(find-pkg-share map_projection_loader)/launch/map_projection_loader.launch.xml">
+      <arg name="map_projector_info_path" value="$(var map_projector_info_path)"/>
+      <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
     </include>
   </group>
 </launch>

launch/tier4_map_launch/launch/map.launch.py

@@ -77,7 +77,7 @@
         <arg name="output/objects" value="far_objects"/>
         <arg name="filter/angle_threshold" value="1.0472"/>
         <arg name="filter/velocity_threshold" value="3.0"/>
-        <arg name="split/velocity_threshold" value="4.5"/>
+        <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
@@ -177,6 +177,7 @@
       <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
         <arg name="input/radar" value="$(var input/radar)"/>
         <arg name="output/objects" value="far_objects"/>
+        <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
         <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
         <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
         <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
@@ -237,6 +238,7 @@
     <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
       <arg name="input/radar" value="$(var input/radar)"/>
       <arg name="output/objects" value="objects"/>
+      <arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
       <arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
       <arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
       <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>

launch/tier4_map_launch/launch/map.launch.xml

@@ -4,7 +4,7 @@
   <arg name="output/objects" default="far_objects"/>
   <arg name="filter/angle_threshold" default="1.221"/>
   <arg name="filter/velocity_threshold" default="1.5"/>
-  <arg name="split/velocity_threshold" default="5.5"/>
+  <arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
   <arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
   <arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
   <arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
@@ -22,7 +22,7 @@
     <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
-    <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
+    <arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">