refactor(perception/lidar_apollo_instance_segmentation): rework parameters #5739

karishma1911 · 2023-12-01T05:57:12Z

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the perception_apollo_instance_segmentation

Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.

2.create schema

Tests performed

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Effects on system behavior

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yukke42

I confirmed it works.

codecov · 2023-12-13T15:31:37Z

Codecov Report

Attention: Patch coverage is 0% with 10 lines in your changes missing coverage. Please review.

Project coverage is 15.31%. Comparing base (3d849e9) to head (3a62ceb).
Report is 346 commits behind head on main.

❗ Current head 3a62ceb differs from pull request most recent head d977878

Please upload reports for the commit d977878 to get more accurate results.

Files	Patch %	Lines
...idar_apollo_instance_segmentation/src/detector.cpp	0.00%	10 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5739      +/-   ##
==========================================
+ Coverage   15.09%   15.31%   +0.21%     
==========================================
  Files        1967     1765     -202     
  Lines      135941   119466   -16475     
  Branches    42122    35967    -6155     
==========================================
- Hits        20520    18295    -2225     
+ Misses      92700    80716   -11984     
+ Partials    22721    20455    -2266

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.37% <ø> (+0.28%)`	⬆️	Carriedforward from 05c6d82

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perception/lidar_apollo_instance_segmentation/schema/lidar_apollo_instance_segmentation.json

stale · 2024-03-20T03:22:32Z

This pull request has been automatically marked as stale because it has not had recent activity.

idorobotics · 2024-05-24T09:40:18Z

@yukkysaito @miursh please review and merge?

xmfcx · 2024-05-24T11:28:24Z

@karishma1911 could you rebase this to the latest main? To fix the CI.

Or click Allow edits and access to secrets by maintainers. For this PR. So we can do it for you.

…ndation#5744) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

…5820) * refactor(side_shift): separate side shift module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(bpp): remove side shift module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> --------- Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…warefoundation#5689) fix(avoidance): output invalid avoidance path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com>

…interpolate (autowarefoundation#5818) Fixed rejection criteria of SmartPoseBuffer::interpolate Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

…oid exceeding max voxel size (autowarefoundation#5824)

…utowarefoundation#5810) Add jerk and acc limits for slow-down Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

…arefoundation#5819) * fix(traffic_light): stop if the traffic light signal timed out Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(traffic_light): fix README format Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> --------- Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…c_time/elapsed_time, tentative objects (autowarefoundation#5762) * enable debugger in tracker Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix uninitialized class variable Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * feat: separate debugger class for simplification Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

…utowarefoundation#5830) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

…refoundation#6087) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…affic light id map every callback (autowarefoundation#6061) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…compensation (autowarefoundation#6080) Signed-off-by: scepter914 <scepter914@gmail.com>

* fix(pointpainting): fix param path declaration Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove pointpainting_model_name Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert: revert unnecessary change Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp>

* docs(crosswalk): update the document Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix the spell Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> --------- Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…usion detection and 1st/2nd attention lane (autowarefoundation#6047) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

…utowarefoundation#5635) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> remove non-support Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> fix link Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> add yaml Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> please check readme

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com>

…on#6103) * Visualize the footprint from start_pose to end_pose along the path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…data structure (autowarefoundation#6101) * Add data_structs.hpp and update include paths * Refactor start planner debug data structure * Update debug_data variable name in StartPlannerModule Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…arefoundation#6055) Refactor lane departure check in ShiftPullOut::plan() Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

…pty (autowarefoundation#6104) * check if p_safety_slow is empty Signed-off-by: beyza <bnk@leodrive.ai> * style(pre-commit): autofix --------- Signed-off-by: beyza <bnk@leodrive.ai> Co-authored-by: beyza <bnk@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…utowarefoundation#6091) * feat!: replace use_pointcloud_container Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: remove from planning Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix to remove all use_pointcloud_container Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert: revert change in planning.launch Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert: revert rename of use_pointcloud_container Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix tier4_perception_launch to enable use_pointcloud_contaienr Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix unnecessary change Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: fix unnecessary change Signed-off-by: kminoda <koji.minoda@tier4.jp> * refactor: remove trailing whitespace Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert other changes in perception Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert change in readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat: move glog to pointcloud_container.launch.py * revert: revert glog porting Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * fix: fix pre-commit Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…ion (autowarefoundation#6072) * add acc filtering and decaying acc to model Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fixed compilation problem, acc is used to predict search_dist Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Use an equivalent velocity to calculate paths Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * change decaying factor to T/4 Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * coment out cerr for evaluation Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * simplify code Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * comments Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add missing constant to decaying acc model Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Use an equivalent velocity to calculate paths Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add missing constant to decaying acc model Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * Implement lanelet speed limit for acc consideration Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add option to activate on and off acceleration feature Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add params Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * add params Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * delete unused class Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * update docs Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * delete comments Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * fix comments Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * update comments, refactor code Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> * remove unused line Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> --------- Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp> Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>

…om/Interplai/autoware.universe into lidar-apollo-instance-segmentation

yukkysaito

LGTM
cc @kminoda

idorobotics · 2024-06-13T17:28:56Z

LGTM cc @kminoda

Thanks!

miursh · 2024-06-14T01:34:44Z

@idorobotics
Could you please merge main branch to your branch again? In order to pass DCO check.

idorobotics · 2024-06-14T16:42:38Z

@idorobotics
Could you please merge main branch to your branch again? In order to pass DCO check.

@karishma1911

kminoda · 2024-06-24T00:24:57Z

@karishma1911 Hi, thank you for your contribution!
To maintain the opened PR in Autoware Universe, let me close this PR for now 🙏
We are happy to review it again after the PR is fixed.

Thank you for your understanding.

…nly for `-cuda` job (autowarefoundation#5739)

karishma1911 requested a review from yukkysaito as a code owner December 1, 2023 05:57

github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Dec 1, 2023

karishma1911 force-pushed the lidar-apollo-instance-segmentation branch from 583022d to 02eaecc Compare December 1, 2023 05:58

yukkysaito requested review from yukke42 and miursh December 4, 2023 02:13

yukke42 approved these changes Dec 6, 2023

View reviewed changes

karishma1911 force-pushed the lidar-apollo-instance-segmentation branch from 0989feb to 50ee349 Compare December 6, 2023 11:22

miursh added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Dec 13, 2023

miursh enabled auto-merge (squash) December 13, 2023 15:26

miursh disabled auto-merge December 13, 2023 15:27

karishma1911 force-pushed the lidar-apollo-instance-segmentation branch 2 times, most recently from 9785e57 to b2f5cfb Compare December 14, 2023 08:03

miursh reviewed Dec 14, 2023

View reviewed changes

perception/lidar_apollo_instance_segmentation/schema/lidar_apollo_instance_segmentation.json Show resolved Hide resolved

stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Mar 20, 2024

xmfcx assigned karishma1911 May 24, 2024

stale bot removed the status:stale Inactive or outdated issues. (auto-assigned) label May 24, 2024

isamu-takagi and others added 10 commits May 26, 2024 12:59

fix(autoware_auto_msgs_adapter): fix predicted path test (autowarefou…

1867e8b

…ndation#5744) Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

fix(avoidance): output invalid avoidance path with unsafe state (auto…

3c65061

…warefoundation#5689) fix(avoidance): output invalid avoidance path Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

chore: update CODEOWNERS (autowarefoundation#5811)

0632078

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com>

fix(localization_util): fixed rejection criteria of SmartPoseBuffer::…

a42031b

…interpolate (autowarefoundation#5818) Fixed rejection criteria of SmartPoseBuffer::interpolate Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

fix(lidar_centerpoint,image_projection_based_fusion): add guard to av…

aeb55d0

…oid exceeding max voxel size (autowarefoundation#5824)

feat(obstacle_cruise_planner): add jerk and acc limits for slow-down (a…

e89fc75

…utowarefoundation#5810) Add jerk and acc limits for slow-down Signed-off-by: Daniel Sanchez <daniel.sanchez@tier4.jp>

refactor(surround_obstacle_checker): boost::optional to std:optional (a…

44860b6

…utowarefoundation#5830) Signed-off-by: Zulfaqar Azmi <zulfaqar.azmi@tier4.jp>

kosuke55 and others added 18 commits May 26, 2024 12:59

refactor(goal_planner): remove duplicated execution condition (autowa…

fffcd81

…refoundation#6087) Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

fix(behavior_velocity_planner, behavior_path_planner): refresh raw tr…

08ad628

…affic light id map every callback (autowarefoundation#6061) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

fix(radar_tracks_msgs_converter): change default parameter for twist …

6748a01

…compensation (autowarefoundation#6080) Signed-off-by: scepter914 <scepter914@gmail.com>

feat(intersection): more precise pass judge handling considering occl…

cb30746

…usion detection and 1st/2nd attention lane (autowarefoundation#6047) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

feat(blind_spot): consider opposite adjacent lane for wrong vehicles (a…

c74fe48

…utowarefoundation#5635) Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

chore: update CODEOWNERS (autowarefoundation#6038)

b75027f

Signed-off-by: GitHub <noreply@github.com> Co-authored-by: github-actions <github-actions@github.com>

refactor(start_planner): visualize shifting section (autowarefoundati…

43f7742

…on#6103) * Visualize the footprint from start_pose to end_pose along the path Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp> --------- Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

fix(start_planner): expand lane departure check for shift path (autow…

3bf4c26

…arefoundation#6055) Refactor lane departure check in ShiftPullOut::plan() Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

perception/lidar_apollo_instance_segmentation

908377f

Merge branch 'lidar-apollo-instance-segmentation' of https://github.c…

2b9f8a1

…om/Interplai/autoware.universe into lidar-apollo-instance-segmentation

Merge branch 'main' into lidar-apollo-instance-segmentation

d977878

yukkysaito approved these changes May 28, 2024

View reviewed changes

idorobotics requested a review from yukkysaito June 13, 2024 17:27

xmfcx closed this Jun 14, 2024

xmfcx reopened this Jun 14, 2024

miursh mentioned this pull request Jun 21, 2024

Merge branch 'main' into lidar-apollo-instance-segmentation Interplai/autoware.universe#1

Closed

kminoda marked this pull request as draft June 24, 2024 00:25

kminoda closed this Jun 24, 2024

interimadd pushed a commit to interimadd/autoware.universe that referenced this pull request Mar 17, 2025

fix(docker-build-and-push-arm64.yaml): change runs-on self-hosted o…

62b7d3d

…nly for `-cuda` job (autowarefoundation#5739)

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refactor(perception/lidar_apollo_instance_segmentation): rework parameters #5739

refactor(perception/lidar_apollo_instance_segmentation): rework parameters #5739

karishma1911 commented Dec 1, 2023 •

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refactor(perception/lidar_apollo_instance_segmentation): rework parameters #5739

refactor(perception/lidar_apollo_instance_segmentation): rework parameters #5739

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karishma1911 commented Dec 1, 2023 • edited Loading

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