Merge pull request #1819 from tier4/sync-awf-latest

chore: sync awf-latest
tier4 · Feb 14, 2025 · 9eca833 · 9eca833
2 parents 458a963 + 1180c8d
commit 9eca833
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Showing 19 changed files with 142 additions and 789 deletions.
diff --git a/common/autoware_testing/CHANGELOG.rst b/common/autoware_testing/CHANGELOG.rst
diff --git a/common/autoware_testing/CMakeLists.txt b/common/autoware_testing/CMakeLists.txt
diff --git a/common/autoware_testing/autoware_testing-extras.cmake b/common/autoware_testing/autoware_testing-extras.cmake
diff --git a/common/autoware_testing/autoware_testing/__init__.py b/common/autoware_testing/autoware_testing/__init__.py
diff --git a/common/autoware_testing/autoware_testing/smoke_test.py b/common/autoware_testing/autoware_testing/smoke_test.py
diff --git a/common/autoware_testing/cmake/add_smoke_test.cmake b/common/autoware_testing/cmake/add_smoke_test.cmake
diff --git a/common/autoware_testing/design/autoware_testing-design.md b/common/autoware_testing/design/autoware_testing-design.md
diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml
diff --git a/common/autoware_testing/resource/autoware_testing b/common/autoware_testing/resource/autoware_testing
diff --git a/common/autoware_testing/setup.cfg b/common/autoware_testing/setup.cfg
diff --git a/common/autoware_testing/setup.py b/common/autoware_testing/setup.py
diff --git a/...eption_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py b/...eption_launch/launch/traffic_light_recognition/traffic_light_map_based_detector.launch.py
@@ -40,9 +40,6 @@ def create_traffic_light_map_based_detector(namespace, context):
         "input/camera_info": f"/sensing/camera/{namespace}/camera_info",
         "expect/rois": "expect/rois",
         "output/rois": output_rois,
-        # This parameter should be configured differently for each camera considering their delay.
-        "min_timestamp_offset": "-0.3",
-        "max_timestamp_offset": "0.0",
     }.items()
 
     group = GroupAction(

diff --git a/perception/autoware_traffic_light_map_based_detector/README.md b/perception/autoware_traffic_light_map_based_detector/README.md
@@ -29,16 +29,4 @@ If the node receives no route information, it looks at them within a radius of `
 
 ## Node parameters
 
-| Parameter                                  | Type   | Description                                                                                     |
-| ------------------------------------------ | ------ | ----------------------------------------------------------------------------------------------- |
-| `max_vibration_pitch`                      | double | Maximum error in pitch direction. If -5~+5, it will be 10.                                      |
-| `max_vibration_yaw`                        | double | Maximum error in yaw direction. If -5~+5, it will be 10.                                        |
-| `max_vibration_height`                     | double | Maximum error in height direction. If -5~+5, it will be 10.                                     |
-| `max_vibration_width`                      | double | Maximum error in width direction. If -5~+5, it will be 10.                                      |
-| `max_vibration_depth`                      | double | Maximum error in depth direction. If -5~+5, it will be 10.                                      |
-| `max_detection_range`                      | double | Maximum detection range in meters. Must be positive.                                            |
-| `min_timestamp_offset`                     | double | Minimum timestamp offset when searching for corresponding tf.                                   |
-| `max_timestamp_offset`                     | double | Maximum timestamp offset when searching for corresponding tf.                                   |
-| `timestamp_sample_len`                     | double | Sampling length between min_timestamp_offset and max_timestamp_offset.                          |
-| `car_traffic_light_max_angle_range`        | double | Maximum angle between the vehicular traffic light and the camera in degrees. Must be positive.  |
-| `pedestrian_traffic_light_max_angle_range` | double | Maximum angle between the pedestrian traffic light and the camera in degrees. Must be positive. |
+{{ json_to_markdown("perception/autoware_traffic_light_map_based_detector/schema/traffic_light_map_based_detector.schema.json") }}
diff --git a/...oware_traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml b/...oware_traffic_light_map_based_detector/config/traffic_light_map_based_detector.param.yaml
@@ -6,6 +6,8 @@
     max_vibration_width: 0.5             # -0.25 ~ 0.25 m
     max_vibration_depth: 0.5             # -0.25 ~ 0.25 m
     max_detection_range: 200.0
+    min_timestamp_offset: -0.3
+    max_timestamp_offset: 0.0
     timestamp_sample_len: 0.02
     car_traffic_light_max_angle_range: 40.0
     pedestrian_traffic_light_max_angle_range: 80.0
diff --git a/...oware_traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml b/...oware_traffic_light_map_based_detector/launch/traffic_light_map_based_detector.launch.xml
@@ -5,11 +5,6 @@
   <arg name="input/route" default="/planning/mission_planning/route"/>
   <arg name="expect/rois" default="~/expect/rois"/>
   <arg name="output/rois" default="~/output/rois"/>
-  <!--This parameter should be configured differently for each camera considering their delay.-->
-  <arg name="min_timestamp_offset" default="0.0"/>
-  <!--This parameter should be configured differently for each camera considering their delay.-->
-  <arg name="max_timestamp_offset" default="0.0"/>
-
   <arg name="param_path" default="$(find-pkg-share autoware_traffic_light_map_based_detector)/config/traffic_light_map_based_detector.param.yaml"/>
 
   <node pkg="autoware_traffic_light_map_based_detector" exec="traffic_light_map_based_detector_node" name="traffic_light_map_based_detector" output="both">
@@ -19,7 +14,5 @@
     <remap from="~/input/route" to="$(var input/route)"/>
     <remap from="~/output/rois" to="$(var output/rois)"/>
     <param from="$(var param_path)"/>
-    <param name="min_timestamp_offset" value="$(var min_timestamp_offset)"/>
-    <param name="max_timestamp_offset" value="$(var max_timestamp_offset)"/>
   </node>
 </launch>