Merge branch 'main' into feat/pose_estimator_arbiter_with_only_simple_rule

Author: KYabuuchi

.github/CODEOWNERS

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

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

@@ -6,7 +6,6 @@
   <description>The object_recognition_utils package</description>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
   <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>

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

@@ -5,7 +5,6 @@
   <version>0.1.0</version>
   <description>The perception_utils package</description>
   <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>

common/object_recognition_utils/package.xml

@@ -493,7 +493,7 @@ namespace
 //!
 inline LogStreamConsumer LOG_VERBOSE(const Logger & logger)
 {
-  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE) << "[TRT] ";
+  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kVERBOSE);
 }
 
 //!
@@ -505,7 +505,7 @@ inline LogStreamConsumer LOG_VERBOSE(const Logger & logger)
 //!
 inline LogStreamConsumer LOG_INFO(const Logger & logger)
 {
-  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO) << "[TRT] ";
+  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINFO);
 }
 
 //!
@@ -517,7 +517,7 @@ inline LogStreamConsumer LOG_INFO(const Logger & logger)
 //!
 inline LogStreamConsumer LOG_WARN(const Logger & logger)
 {
-  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING) << "[TRT] ";
+  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kWARNING);
 }
 
 //!
@@ -529,7 +529,7 @@ inline LogStreamConsumer LOG_WARN(const Logger & logger)
 //!
 inline LogStreamConsumer LOG_ERROR(const Logger & logger)
 {
-  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR) << "[TRT] ";
+  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kERROR);
 }
 
 //!
@@ -543,7 +543,7 @@ inline LogStreamConsumer LOG_ERROR(const Logger & logger)
 //!
 inline LogStreamConsumer LOG_FATAL(const Logger & logger)
 {
-  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR) << "[TRT] ";
+  return LogStreamConsumer(logger.getReportableSeverity(), Severity::kINTERNAL_ERROR);
 }
 
 }  // anonymous namespace

common/perception_utils/package.xml

@@ -27,10 +27,10 @@
 
   <group>
     <include file="$(find-pkg-share twist2accel)/launch/twist2accel.launch.xml">
-      <arg name="use_odom" value="true"/>
       <arg name="in_odom" value="/localization/kinematic_state"/>
       <arg name="in_twist" value="/localization/twist_estimator/twist_with_covariance"/>
       <arg name="out_accel" value="/localization/acceleration"/>
+      <arg name="param_file" value="$(var twist2accel_param_path)"/>
     </include>
   </group>
 

common/tensorrt_common/include/tensorrt_common/logger.hpp

@@ -8,6 +8,7 @@
   <!-- Parameter files -->
   <arg name="pointcloud_map_loader_param_path"/>
   <arg name="lanelet2_map_loader_param_path"/>
+  <arg name="map_projection_loader_param_path"/>
 
   <!-- whether use intra-process -->
   <arg name="use_intra_process" default="false"/>
@@ -59,6 +60,7 @@
     </node>
 
     <include file="$(find-pkg-share map_projection_loader)/launch/map_projection_loader.launch.xml">
+      <arg name="param_path" value="$(var map_projection_loader_param_path)"/>
       <arg name="map_projector_info_path" value="$(var map_projector_info_path)"/>
       <arg name="lanelet2_map_path" value="$(var lanelet2_map_path)"/>
     </include>

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

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

launch/tier4_map_launch/launch/map.launch.xml

@@ -31,8 +31,6 @@
 
   <!-- Radar parameters -->
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
-  <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"/>
 
   <!-- Camera-Lidar-Radar fusion based detection -->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
@@ -75,11 +73,10 @@
       <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="filter/angle_threshold" value="1.0472"/>
-        <arg name="filter/velocity_threshold" value="3.0"/>
-        <arg name="split/velocity_threshold" value="4.5"/>
+        <arg name="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
+        <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)"/>
       </include>
     </group>
@@ -177,8 +174,10 @@
       <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="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+        <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
+        <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)"/>
       </include>
     </group>
@@ -237,8 +236,10 @@
     <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="radar_lanelet_filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
+      <arg name="radar_crossing_objects_noise_filter_param_path" value="$(var object_recognition_detection_radar_crossing_objects_noise_filter_param_path)"/>
+      <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)"/>
     </include>
   </group>

launch/tier4_map_launch/package.xml

@@ -85,6 +85,9 @@
       <arg name="model_path" value="$(var pointpainting_model_path)"/>
       <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var lidar_detection_model).param.yaml"/>
       <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
     </include>
   </group>
 

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

@@ -22,6 +22,9 @@
         <arg name="model_path" value="$(var centerpoint_model_path)"/>
         <arg name="model_param_path" value="$(var lidar_model_param_path)/$(var centerpoint_model_name).param.yaml"/>
         <arg name="class_remapper_param_path" value="$(var lidar_model_param_path)/detection_class_remapper.param.yaml"/>
+
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
   </group>

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

@@ -26,6 +26,9 @@
         <arg name="input_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud"/>
         <arg name="output_clusters" value="clusters"/>
         <arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
+
+        <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
+        <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
       </include>
     </group>
 

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

@@ -2,9 +2,8 @@
 <launch>
   <arg name="input/radar" default="/sensing/radar/detected_objects"/>
   <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="radar_crossing_objects_noise_filter_param_path"/>
+  <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"/>
@@ -14,15 +13,14 @@
     <arg name="input/objects" value="$(var input/radar)"/>
     <arg name="output/noise_objects" value="noise_objects"/>
     <arg name="output/filtered_objects" value="noise_filtered_objects"/>
-    <arg name="angle_threshold" value="$(var filter/angle_threshold)"/>
-    <arg name="velocity_threshold" value="$(var filter/velocity_threshold)"/>
+    <arg name="param_path" value="$(var radar_crossing_objects_noise_filter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_velocity_splitter)/launch/object_velocity_splitter.launch.xml">
     <arg name="input/objects" value="noise_filtered_objects"/>
     <arg name="output/low_speed_objects" value="low_speed_objects"/>
     <arg name="output/high_speed_objects" value="high_speed_objects"/>
-    <arg name="velocity_threshold" value="$(var split/velocity_threshold)"/>
+    <arg name="param_path" value="$(var object_velocity_splitter_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share object_range_splitter)/launch/object_range_splitter.launch.xml">
@@ -35,12 +33,12 @@
   <include file="$(find-pkg-share detected_object_validation)/launch/object_lanelet_filter.launch.xml">
     <arg name="input/object" value="far_high_speed_objects"/>
     <arg name="output/object" value="lanelet_filtered_objects"/>
-    <arg name="filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
+    <arg name="filtering_range_param_path" value="$(var radar_lanelet_filtering_range_param_path)"/>
   </include>
 
   <include file="$(find-pkg-share radar_object_clustering)/launch/radar_object_clustering.launch.xml">
     <arg name="input/objects" value="lanelet_filtered_objects"/>
     <arg name="output/objects" value="$(var output/objects)"/>
-    <arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
+    <arg name="param_path" value="$(var radar_object_clustering_param_path)"/>
   </include>
 </launch>

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

@@ -14,8 +14,11 @@
   <arg name="object_recognition_detection_roi_pointcloud_fusion_param_path"/>
   <arg name="object_recognition_detection_roi_detected_object_fusion_param_path"/>
   <arg name="object_recognition_detection_lidar_model_param_path"/>
-  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
+  <arg name="object_recognition_detection_radar_lanelet_filtering_range_param_path"/>
+  <arg name="object_recognition_detection_radar_crossing_objects_noise_filter_param_path"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_param_path"/>
+  <arg name="object_recognition_detection_object_velocity_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_param_path"/>
   <arg name="object_recognition_detection_object_range_splitter_radar_fusion_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
@@ -187,7 +190,7 @@
           <arg name="euclidean_param_path" value="$(var object_recognition_detection_euclidean_cluster_param_path)"/>
           <arg name="outlier_param_path" value="$(var object_recognition_detection_outlier_param_path)"/>
           <arg name="voxel_grid_based_euclidean_param_path" value="$(var object_recognition_detection_voxel_grid_based_euclidean_cluster_param_path)"/>
-          <arg name="radar_lanelet_filtering_range_param" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param)"/>
+          <arg name="radar_lanelet_filtering_range_param_path" value="$(var object_recognition_detection_radar_lanelet_filtering_range_param_path)"/>
           <arg name="radar_object_clustering_param_path" value="$(var object_recognition_detection_radar_object_clustering_param_path)"/>
           <arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>