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KYabuuchiKYabuuchi
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Merge branch 'main' into feat/pose_estimator_arbiter_with_only_simple_rule
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‎.github/CODEOWNERS

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‎.github/workflows/build-and-test-differential.yaml

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@@ -36,6 +36,9 @@ jobs:
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with:
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fetch-depth: 0
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- name: Check disk space before build
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run: df -h
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- name: Remove exec_depend
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uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
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@@ -69,6 +72,9 @@ jobs:
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verbose: true
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flags: differential
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- name: Check disk space after build
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run: df -h
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clang-tidy-differential:
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runs-on: [self-hosted, linux, X64]
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container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda

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

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‎common/object_recognition_utils/package.xml

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<description>The object_recognition_utils package</description>
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<maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
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<maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
9-
<maintainer email="yusuke.muramatsu@tier4.jp">Yusuke Muramatsu</maintainer>
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<maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
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<maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
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<license>Apache License 2.0</license>

‎common/perception_utils/package.xml

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@@ -5,7 +5,6 @@
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<version>0.1.0</version>
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<description>The perception_utils package</description>
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<maintainer email="satoshi.tanaka@tier4.jp">Satoshi Tanaka</maintainer>
8-
<maintainer email="yusuke.muramatsu@tier4.jp">Yusuke Muramatsu</maintainer>
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<maintainer email="shunsuke.miura@tier4.jp">Shunsuke Miura</maintainer>
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<maintainer email="yoshi.ri@tier4.jp">Yoshi Ri</maintainer>
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<license>Apache License 2.0</license>

‎common/tensorrt_common/include/tensorrt_common/logger.hpp

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@@ -493,7 +493,7 @@ namespace
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//!
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inline LogStreamConsumer LOG_VERBOSE(const Logger & logger)
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{
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE) << "[TRT] ";
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE);
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}
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//!
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//!
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inline LogStreamConsumer LOG_INFO(const Logger & logger)
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{
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO) << "[TRT] ";
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO);
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}
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//!
@@ -517,7 +517,7 @@ inline LogStreamConsumer LOG_INFO(const Logger & logger)
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//!
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inline LogStreamConsumer LOG_WARN(const Logger & logger)
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{
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING) << "[TRT] ";
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING);
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}
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//!
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//!
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inline LogStreamConsumer LOG_ERROR(const Logger & logger)
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{
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR) << "[TRT] ";
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR);
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}
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//!
@@ -543,7 +543,7 @@ inline LogStreamConsumer LOG_ERROR(const Logger & logger)
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//!
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inline LogStreamConsumer LOG_FATAL(const Logger & logger)
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{
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR) << "[TRT] ";
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return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR);
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}
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} // anonymous namespace

‎launch/tier4_localization_launch/launch/pose_twist_fusion_filter/pose_twist_fusion_filter.launch.xml

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<group>
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<include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
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<arg name="use_odom" value="true"/>
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<arg name="in_odom" value="/localization/kinematic_state"/>
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<arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
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<arg name="out_accel" value="/localization/acceleration"/>
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<arg name="param_file" value="$(var twist2accel_param_path)"/>
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</include>
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</group>
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‎launch/tier4_map_launch/launch/map.launch.xml

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@@ -8,6 +8,7 @@
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<!-- Parameter files -->
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<arg name="pointcloud_map_loader_param_path"/>
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<arg name="lanelet2_map_loader_param_path"/>
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<arg name="map_projection_loader_param_path"/>
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<!-- whether use intra-process -->
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<arg name="use_intra_process" default="false"/>
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</node>
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<include file="$(find-pkg-share map_projection_loader)/launch/map_projection_loader.launch.xml">
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<arg name="param_path" value="$(var map_projection_loader_param_path)"/>
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<arg name="map_projector_info_path" value="$(var map_projector_info_path)"/>
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<arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
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</include>

‎launch/tier4_map_launch/package.xml

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@@ -8,6 +8,11 @@
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<maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
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<maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
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<maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
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<maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
12+
<maintainer email="anh.nguyen.2@tier4.jp">NGUYEN Viet Anh</maintainer>
13+
<maintainer email="taiki.yamada@tier4.jp">Taiki Yamada</maintainer>
14+
<maintainer email="shintaro.sakoda@tier4.jp">Shintaro Sakoda</maintainer>
15+
<maintainer email="masahiro.sakamoto@tier4.jp">Masahiro Sakamoto</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake_auto</buildtool_depend>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml

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@@ -31,8 +31,6 @@
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<!-- Radar parameters -->
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<arg name="input/radar" default="/sensing/radar/detected_objects"/>
34-
<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
35-
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
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<!-- Camera-Lidar-Radar fusion based detection -->
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<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
@@ -75,11 +73,10 @@
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<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
7674
<arg name="input/radar" value="$(var input/radar)"/>
7775
<arg name="output/objects" value="far_objects"/>
78-
<arg name="filter/angle_threshold" value="1.0472"/>
79-
<arg name="filter/velocity_threshold" value="3.0"/>
80-
<arg name="split/velocity_threshold" value="4.5"/>
76+
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
77+
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
78+
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
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<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
82-
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
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<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
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</include>
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</group>
@@ -177,8 +174,10 @@
177174
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
178175
<arg name="input/radar" value="$(var input/radar)"/>
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<arg name="output/objects" value="far_objects"/>
177+
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
178+
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
179+
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_fusion_param_path)"/>
180180
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_fusion_param_path)"/>
181-
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
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<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
183182
</include>
184183
</group>
@@ -237,8 +236,10 @@
237236
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
238237
<arg name="input/radar" value="$(var input/radar)"/>
239238
<arg name="output/objects" value="objects"/>
239+
<arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
240+
<arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
241+
<arg name="object_velocity_splitter_param_path" value="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
240242
<arg name="object_range_splitter_param_path" value="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
241-
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
242243
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
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</include>
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</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml

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<arg name="model_path" value="$(var pointpainting_model_path)"/>
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<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
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<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
88+
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<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
90+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
8891
</include>
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</group>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml

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<arg name="model_path" value="$(var centerpoint_model_path)"/>
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<arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
2424
<arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
25+
26+
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
27+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
2528
</include>
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</group>
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</group>

‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml

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<arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
2727
<arg name="output_clusters" value="clusters"/>
2828
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
29+
30+
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
31+
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
2932
</include>
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</group>
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‎launch/tier4_perception_launch/launch/object_recognition/detection/detector/radar_detector.launch.xml

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<launch>
33
<arg name="input/radar" default="/sensing/radar/detected_objects"/>
44
<arg name="output/objects" default="far_objects"/>
5-
<arg name="filter/angle_threshold" default="1.221"/>
6-
<arg name="filter/velocity_threshold" default="1.5"/>
7-
<arg name="split/velocity_threshold" default="5.5"/>
5+
<arg name="radar_crossing_objects_noise_filter_param_path"/>
6+
<arg name="object_velocity_splitter_param_path" default="$(var object_recognition_detection_object_velocity_splitter_radar_param_path)"/>
87
<arg name="object_range_splitter_param_path" default="$(var object_recognition_detection_object_range_splitter_radar_param_path)"/>
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<arg name="radar_lanelet_filtering_range_param" default="$(find-pkg-share detected_object_validation)/config/object_lanelet_filter.param.yaml"/>
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<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>
@@ -14,15 +13,14 @@
1413
<arg name="input/objects" value="$(var input/radar)"/>
1514
<arg name="output/noise_objects" value="noise_objects"/>
1615
<arg name="output/filtered_objects" value="noise_filtered_objects"/>
17-
<arg name="angle_threshold" value="$(var filter/angle_threshold)"/>
18-
<arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
16+
<arg name="param_path" value="$(var radar_crossing_objects_noise_filter_param_path)"/>
1917
</include>
2018

2119
<include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
2220
<arg name="input/objects" value="noise_filtered_objects"/>
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<arg name="output/low_speed_objects" value="low_speed_objects"/>
2422
<arg name="output/high_speed_objects" value="high_speed_objects"/>
25-
<arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
23+
<arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
2624
</include>
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2826
<include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
@@ -35,12 +33,12 @@
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<include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
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<arg name="input/object" value="far_high_speed_objects"/>
3735
<arg name="output/object" value="lanelet_filtered_objects"/>
38-
<arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
36+
<arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
3937
</include>
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<include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
4240
<arg name="input/objects" value="lanelet_filtered_objects"/>
4341
<arg name="output/objects" value="$(var output/objects)"/>
44-
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
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<arg name="param_path" value="$(var radar_object_clustering_param_path)"/>
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</include>
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</launch>

‎launch/tier4_perception_launch/launch/perception.launch.xml

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<arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
1515
<arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
1616
<arg name="object_recognition_detection_lidar_model_param_path"/>
17-
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
17+
<arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
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<arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
1819
<arg name="object_recognition_detection_radar_object_clustering_param_path"/>
20+
<arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
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<arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
1922
<arg name="object_recognition_detection_object_range_splitter_radar_param_path"/>
2023
<arg name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"/>
2124
<arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
@@ -187,7 +190,7 @@
187190
<arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
188191
<arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
189192
<arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
190-
<arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
193+
<arg name="radar_lanelet_filtering_range_param_path" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param_path)"/>
191194
<arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
192195
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
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