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lexavtankelexavtanke
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Merge branch 'autowarefoundation:main' into feat/add_perception_objects_pointcloud_publisher
2 parents 31af5cd + 1469f52 commit d47a30f

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‎.github/CODEOWNERS

+11-6
Original file line numberDiff line numberDiff line change
@@ -28,6 +28,7 @@ common/rtc_manager_rviz_plugin/** taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @
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common/signal_processing/** ali.boyali@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
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common/tensorrt_common/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
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common/tier4_api_utils/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
31+
common/tier4_automatic_goal_rviz_plugin/** dawid.moszynski@robotec.ai shumpei.wakabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
3132
common/tier4_autoware_utils/** kenji.miyake@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
3233
common/tier4_calibration_rviz_plugin/** tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
3334
common/tier4_control_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -36,7 +37,7 @@ common/tier4_debug_rviz_plugin/** takayuki.murooka@tier4.jp @autowarefoundation/
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common/tier4_debug_tools/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
3738
common/tier4_localization_rviz_plugin/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
3839
common/tier4_perception_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
39-
common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
40+
common/tier4_planning_rviz_plugin/** takayuki.murooka@tier4.jp yukihiro.saito@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
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common/tier4_screen_capture_rviz_plugin/** taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners
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common/tier4_simulated_clock_rviz_plugin/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
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common/tier4_state_rviz_plugin/** hiroki.ota@tier4.jp isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -45,6 +46,7 @@ common/tier4_vehicle_rviz_plugin/** yukihiro.saito@tier4.jp @autowarefoundation/
4546
common/time_utils/** christopherj.ho@gmail.com @autowarefoundation/autoware-global-codeowners
4647
common/trtexec_vendor/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
4748
common/tvm_utility/** ambroise.vincent@arm.com xinyu.wang@tier4.jp @autowarefoundation/autoware-global-codeowners
49+
control/autonomous_emergency_braking/** yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
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control/control_performance_analysis/** berkay@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
4951
control/external_cmd_selector/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
5052
control/joy_controller/** fumiya.watanabe@tier4.jp kenji.miyake@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -58,16 +60,18 @@ control/shift_decider/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-g
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control/trajectory_follower_base/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
5961
control/trajectory_follower_node/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
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control/vehicle_cmd_gate/** takamasa.horibe@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
63+
evaluator/diagnostic_converter/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
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evaluator/kinematic_evaluator/** dominik.jargot@robotec.ai @autowarefoundation/autoware-global-codeowners
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evaluator/localization_evaluator/** dominik.jargot@robotec.ai @autowarefoundation/autoware-global-codeowners
66+
evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
6367
launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp @autowarefoundation/autoware-global-codeowners
6468
launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
65-
launch/tier4_localization_launch/** yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
69+
launch/tier4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
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launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp @autowarefoundation/autoware-global-codeowners
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launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
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launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
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launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
70-
launch/tier4_simulator_launch/** keisuke.shima@tier4.jp @autowarefoundation/autoware-global-codeowners
74+
launch/tier4_simulator_launch/** keisuke.shima@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
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launch/tier4_system_launch/** akihiro.sakurai@tier4.jp fumihito.ito@tier4.jp kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
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launch/tier4_vehicle_launch/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
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localization/ekf_localizer/** koji.minoda@tier4.jp takamasa.horibe@tier4.jp takeshi.ishita@tier4.jp yamato.ando@tier4.jp @autowarefoundation/autoware-global-codeowners
@@ -112,22 +116,23 @@ perception/tensorrt_yolo/** daisuke.nishimatsu@tier4.jp @autowarefoundation/auto
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perception/tensorrt_yolox/** daisuke.nishimatsu@tier4.jp manato.hirabayashi@tier4.jp @autowarefoundation/autoware-global-codeowners
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perception/traffic_light_classifier/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
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perception/traffic_light_map_based_detector/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
119+
perception/traffic_light_selector/** isamu.takagi@tier4.jp @autowarefoundation/autoware-global-codeowners
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perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp @autowarefoundation/autoware-global-codeowners
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perception/traffic_light_visualization/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
117-
planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
122+
planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
118123
planning/behavior_velocity_planner/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
119124
planning/costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
120125
planning/external_velocity_limit_selector/** satoshi.ota@tier4.jp shinnosuke.hirakawa@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
121126
planning/freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
122127
planning/freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
123128
planning/mission_planner/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
124129
planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
125-
planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
130+
planning/obstacle_avoidance_planner/** takayuki.murooka@tier4.jp @autowarefoundation/autoware-global-codeowners
126131
planning/obstacle_cruise_planner/** takayuki.murooka@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
127132
planning/obstacle_stop_planner/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp @autowarefoundation/autoware-global-codeowners
128133
planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
129134
planning/planning_debug_tools/** taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
130-
planning/planning_evaluator/** maxime.clement@tier4.jp @autowarefoundation/autoware-global-codeowners
135+
planning/planning_test_utils/** kyoichi.sugahara@tier4.jp @autowarefoundation/autoware-global-codeowners
131136
planning/planning_validator/** takamasa.horibe@tier4.jp yutaka.shimizu@tier4.jp @autowarefoundation/autoware-global-codeowners
132137
planning/route_handler/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp yutaka.shimizu@tier4.jp zulfaqar.azmi@tier4.jp @autowarefoundation/autoware-global-codeowners
133138
planning/rtc_auto_mode_manager/** fumiya.watanabe@tier4.jp taiki.tanaka@tier4.jp @autowarefoundation/autoware-global-codeowners

‎common/rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp

+11-4
Original file line numberDiff line numberDiff line change
@@ -45,6 +45,12 @@ std::string getModuleName(const uint8_t module_type)
4545
case Module::EXT_REQUEST_LANE_CHANGE_RIGHT: {
4646
return "ext_request_lane_change_right";
4747
}
48+
case Module::AVOIDANCE_BY_LC_LEFT: {
49+
return "avoidance_by_lane_change_left";
50+
}
51+
case Module::AVOIDANCE_BY_LC_RIGHT: {
52+
return "avoidance_by_lane_change_right";
53+
}
4854
case Module::AVOIDANCE_LEFT: {
4955
return "avoidance_left";
5056
}
@@ -87,9 +93,10 @@ bool isPathChangeModule(const uint8_t module_type)
8793
if (
8894
module_type == Module::LANE_CHANGE_LEFT || module_type == Module::LANE_CHANGE_RIGHT ||
8995
module_type == Module::EXT_REQUEST_LANE_CHANGE_LEFT ||
90-
module_type == Module::EXT_REQUEST_LANE_CHANGE_RIGHT || module_type == Module::AVOIDANCE_LEFT ||
91-
module_type == Module::AVOIDANCE_RIGHT || module_type == Module::PULL_OVER ||
92-
module_type == Module::PULL_OUT) {
96+
module_type == Module::EXT_REQUEST_LANE_CHANGE_RIGHT ||
97+
module_type == Module::AVOIDANCE_BY_LC_LEFT || module_type == Module::AVOIDANCE_BY_LC_RIGHT ||
98+
module_type == Module::AVOIDANCE_LEFT || module_type == Module::AVOIDANCE_RIGHT ||
99+
module_type == Module::PULL_OVER || module_type == Module::PULL_OUT) {
93100
return true;
94101
}
95102
return false;
@@ -98,7 +105,7 @@ bool isPathChangeModule(const uint8_t module_type)
98105
RTCManagerPanel::RTCManagerPanel(QWidget * parent) : rviz_common::Panel(parent)
99106
{
100107
// TODO(tanaka): replace this magic number to Module::SIZE
101-
const size_t module_size = 14;
108+
const size_t module_size = 18;
102109
auto_modes_.reserve(module_size);
103110
auto * v_layout = new QVBoxLayout;
104111
auto vertical_header = new QHeaderView(Qt::Vertical);

‎evaluator/diagnostic_converter/src/converter_node.cpp

+34-3
Original file line numberDiff line numberDiff line change
@@ -14,6 +14,37 @@
1414

1515
#include "converter_node.hpp"
1616

17+
#include <regex>
18+
19+
namespace
20+
{
21+
std::string removeInvalidTopicString(const std::string & input_string)
22+
{
23+
std::regex pattern{R"([a-zA-Z0-9/_]+)"};
24+
25+
std::string result;
26+
for (std::sregex_iterator itr(std::begin(input_string), std::end(input_string), pattern), end;
27+
itr != end; ++itr) {
28+
result += itr->str();
29+
}
30+
return result;
31+
}
32+
33+
std::string removeUnitString(const std::string & input_string)
34+
{
35+
for (size_t i = 0; i < input_string.size(); ++i) {
36+
if (input_string.at(i) == '[') {
37+
if (i != 0 && input_string.at(i - 1) == ' ') {
38+
// Blank is also removed
39+
return std::string{input_string.begin(), input_string.begin() + i - 1};
40+
}
41+
return std::string{input_string.begin(), input_string.begin() + i};
42+
}
43+
}
44+
return input_string;
45+
}
46+
} // namespace
47+
1748
namespace diagnostic_converter
1849
{
1950
DiagnosticConverter::DiagnosticConverter(const rclcpp::NodeOptions & node_options)
@@ -41,8 +72,8 @@ void DiagnosticConverter::onDiagnostic(
4172
for (const auto & status : diag_msg->status) {
4273
std::string status_topic = base_topic + (status.name.empty() ? "" : "_" + status.name);
4374
for (const auto & key_value : status.values) {
44-
getPublisher(status_topic + "_" + key_value.key, diag_idx)
45-
->publish(createUserDefinedValue(key_value));
75+
const auto valid_topic_name = removeInvalidTopicString(status_topic + "_" + key_value.key);
76+
getPublisher(valid_topic_name, diag_idx)->publish(createUserDefinedValue(key_value));
4677
}
4778
}
4879
}
@@ -51,7 +82,7 @@ UserDefinedValue DiagnosticConverter::createUserDefinedValue(const KeyValue & ke
5182
{
5283
UserDefinedValue param_msg;
5384
param_msg.type.data = UserDefinedValueType::DOUBLE;
54-
param_msg.value = key_value.value;
85+
param_msg.value = removeUnitString(key_value.value);
5586
return param_msg;
5687
}
5788

‎launch/tier4_localization_launch/launch/localization.launch.xml

+1
Original file line numberDiff line numberDiff line change
@@ -6,6 +6,7 @@
66
<arg name="random_downsample_filter_param_path"/>
77
<arg name="ndt_scan_matcher_param_path"/>
88
<arg name="localization_error_monitor_param_path"/>
9+
<arg name="ekf_localizer_param_path"/>
910
<arg name="pose_initializer_param_path"/>
1011
<arg name="pose_initializer_common_param_path"/>
1112

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

+1-5
Original file line numberDiff line numberDiff line change
@@ -2,9 +2,6 @@
22
<launch>
33
<group>
44
<include file="$(find-pkg-share ekf_localizer)/launch/ekf_localizer.launch.xml">
5-
<arg name="enable_yaw_bias_estimation" value="true"/>
6-
<arg name="tf_rate" value="50.0"/>
7-
<arg name="twist_smoothing_steps" value="2"/>
85
<arg name="input_initial_pose_name" value="/initialpose3d"/>
96
<arg name="input_pose_with_cov_name" value="/localization/pose_estimator/pose_with_covariance"/>
107
<arg name="input_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
@@ -15,8 +12,7 @@
1512
<arg name="output_biased_pose_with_covariance_name" value="biased_pose_with_covariance"/>
1613
<arg name="output_twist_name" value="twist"/>
1714
<arg name="output_twist_with_covariance_name" value="twist_with_covariance"/>
18-
<arg name="proc_stddev_vx_c" value="10.0"/>
19-
<arg name="proc_stddev_wz_c" value="5.0"/>
15+
<arg name="param_file" value="$(var ekf_localizer_param_path)"/>
2016
</include>
2117
</group>
2218

‎launch/tier4_localization_launch/package.xml

+3
Original file line numberDiff line numberDiff line change
@@ -5,6 +5,9 @@
55
<version>0.1.0</version>
66
<description>The tier4_localization_launch package</description>
77
<maintainer email="yamato.ando@tier4.jp">Yamato Ando</maintainer>
8+
<maintainer email="koji.minoda@tier4.jp">Koji Minoda</maintainer>
9+
<maintainer email="kento.yabuuchi.2@tier4.jp">Kento Yabuuchi</maintainer>
10+
<maintainer email="ryu.yamamoto@tier4.jp">Ryu Yamamoto</maintainer>
811
<license>Apache License 2.0</license>
912
<author email="yamato.ando@tier4.jp">Yamato Ando</author>
1013

‎launch/tier4_perception_launch/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py

+1
Original file line numberDiff line numberDiff line change
@@ -327,6 +327,7 @@ def create_single_frame_outlier_filter_components(input_topic, output_topic, con
327327
"use_lane_filter": False,
328328
"use_inpaint": True,
329329
"inpaint_radius": 1.0,
330+
"lane_margin": 2.0,
330331
"param_file_path": PathJoinSubstitution(
331332
[
332333
LaunchConfiguration(

‎localization/ekf_localizer/CMakeLists.txt

+1
Original file line numberDiff line numberDiff line change
@@ -75,5 +75,6 @@ endif()
7575

7676
ament_auto_package(
7777
INSTALL_TO_SHARE
78+
config
7879
launch
7980
)

‎localization/ekf_localizer/config/ekf_localizer.param.yaml

+23
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,23 @@
1+
/**:
2+
ros__parameters:
3+
show_debug_info: false
4+
enable_yaw_bias_estimation: True
5+
predict_frequency: 50.0
6+
tf_rate: 50.0
7+
extend_state_step: 50
8+
9+
# for Pose measurement
10+
pose_additional_delay: 0.0
11+
pose_measure_uncertainty_time: 0.01
12+
pose_smoothing_steps: 5
13+
pose_gate_dist: 10000.0
14+
15+
# for twist measurement
16+
twist_additional_delay: 0.0
17+
twist_smoothing_steps: 2
18+
twist_gate_dist: 10000.0
19+
20+
# for process model
21+
proc_stddev_yaw_c: 0.005
22+
proc_stddev_vx_c: 10.0
23+
proc_stddev_wz_c: 5.0

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