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docs: fix localization's input pointcloud (autowarefoundation#491)
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* add Lidar Point Cloud

Signed-off-by: yamato-ando <Yamato ANDO>

* update node-diagram. rename localization's input pointcloud

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* into tables

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* style(pre-commit): autofix

* remove combined lidar pointcloud

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* style(pre-commit): autofix

* add lidar-point-cloud's topic name and description

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* style(pre-commit): autofix

* rename lidar topic

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* rename lidar topic

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* add T.B.D

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---------

Signed-off-by: yamato-ando <Yamato ANDO>
Co-authored-by: yamato-ando <Yamato ANDO>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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YamatoAndo and pre-commit-ci[bot] authored Dec 8, 2023
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6,205 changes: 6,201 additions & 4 deletions ...are-architecture/node-diagram/overall-node-diagram-autoware-universe.drawio.svg
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136 changes: 26 additions & 110 deletions docs/design/autoware-interfaces/components/sensing.md
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Expand Up @@ -32,7 +32,7 @@ graph TD
<font size=1>radar_msgs/RadarTracks</font size>"):::cls_sen
msg_pc_rdr("<font size=2><b>Radar Pointcloud</b></font size>
<font size=1>radar_msgs/RadarScan</font size>"):::cls_sen
msg_pc_combined_ldr("<font size=2><b>Combined Lidar Point Cloud</b></font size>
msg_pc_ldr("<font size=2><b>Lidar Point Cloud</b></font size>
<font size=1>sensor_msgs/PointCloud2</font size>"):::cls_sen
msg_pose_gnss("<font size=2><b>GNSS-INS Pose</b></font size>
<font size=1>geometry_msgs/PoseWithCovarianceStamped</font size>"):::cls_sen
Expand All @@ -59,15 +59,15 @@ graph TD
cmp_sen --> msg_gnssvel_sen
cmp_sen --> msg_pc_combined_rdr
cmp_sen --> msg_pc_rdr
cmp_sen --> msg_pc_combined_ldr
cmp_sen --> msg_pc_ldr
cmp_sen --> msg_pose_gnss
cmp_sen --> msg_gnssacc_sen
msg_ult_sen --> cmp_per
msg_img_sen --> cmp_per
msg_pc_combined_rdr --> cmp_per
msg_pc_rdr --> cmp_per
msg_pc_combined_ldr --> cmp_per
msg_pc_combined_ldr --> cmp_loc
msg_pc_ldr --> cmp_per
msg_pc_ldr --> cmp_loc
msg_pose_gnss --> cmp_loc
msg_gnssori_sen --> cmp_loc
msg_gnssvel_sen --> cmp_loc
Expand All @@ -80,112 +80,28 @@ classDef cls_sen fill:#FFE6CC,stroke:#999,stroke-width:1px;

## Inputs

### Ultrasonics

Distance data from ultrasonic radar driver.

- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg)

### Camera Image

Image data from camera driver.

- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg)

### Radar Tracks

Tracks from radar driver.

- [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg)

### Radar Scan

Scan from radar driver.

- [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg)

### Lidar Point Cloud

Pointcloud from lidar driver.

- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg)

### GNSS-INS Position

Initial pose from GNSS driver.

- [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg)

### GNSS-INS Orientation

Initial orientation from GNSS driver.

- [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg)

### GNSS Velocity

Initial velocity from GNSS driver.

- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg)

### GNSS Acceleration

Initial acceleration from GNSS driver.

- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)
| Name | Topic | Type | Description |
| -------------------- | -------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------- |
| Ultrasonics | T.B.D | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar driver. |
| Camera Image | T.B.D | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera driver. |
| Radar Tracks | T.B.D | [radar_msgs/RadarTracks](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Tracks from radar driver. |
| Radar Scan | T.B.D | [radar_msgs/RadarScan](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | Scan from radar driver. |
| Lidar Point Cloud | `/sensing/lidar/<lidar name>/pointcloud_raw` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) | Pointcloud from lidar driver. |
| GNSS-INS Position | T.B.D | [geometry_msgs/NavSatFix](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/NavSatFix.msg) | Initial pose from GNSS driver. |
| GNSS-INS Orientation | T.B.D | [autoware_sensing_msgs/GnssInsOrientationStamped](https://github.com/autowarefoundation/autoware_msgs/blob/main/autoware_sensing_msgs/msg/GnssInsOrientationStamped.msg) | Initial orientation from GNSS driver. |
| GNSS Velocity | T.B.D | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Initial velocity from GNSS driver. |
| GNSS Acceleration | T.B.D | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Initial acceleration from GNSS driver. |

## Output

### Ultrasonics

Distance data from ultrasonic radar. Used by the Perception.

- [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg)

### Camera Image

Image data from camera. Used by the Perception.

- [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg)

### Combined Radar Tracks

Radar tracks from radar. Used by the Perception.

- [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg)

### Radar Point Cloud

Pointcloud from radar. Used by the Perception.

- [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg)

### Combined Lidar Point Cloud

Lidar pointcloud after preprocessing. Used by the Perception and Localization.

- [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg)

### GNSS-INS pose

Initial pose of the ego vehicle from GNSS. Used by the Localization.

- [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg)

### GNSS-INS Orientation

Orientation info from GNSS. Used by the Localization.

- [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg)

### GNSS velocity

Velocity of the ego vehicle from GNSS. Used by the Localization.

- [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg)

### GNSS Acceleration

Acceleration of the ego vehicle from GNSS. Used by the Localization.

- [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg)
| Name | Topic | Type | Description |
| --------------------- | ----------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
| Ultrasonics | T.B.D | [sensor_msgs/Range](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Range.msg) | Distance data from ultrasonic radar. Used by the Perception. |
| Camera Image | T.B.D | [sensor_msgs/Image](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Image.msg) | Image data from camera. Used by the Perception. |
| Combined Radar Tracks | T.B.D | [radar_msgs/RadarTracks.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarTracks.msg) | Radar tracks from radar. Used by the Perception. |
| Radar Point Cloud | T.B.D | [radar_msgs/RadarScan.msg](https://github.com/ros-perception/radar_msgs/blob/ros2/msg/RadarScan.msg) | Pointcloud from radar. Used by the Perception. |
| Lidar Point Cloud | `/sensing/lidar/<lidar group>/pointcloud` | [sensor_msgs/PointCloud2](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/PointCloud2.msg) | Lidar pointcloud after preprocessing. Used by the Perception and Localization. `<lidar group>` is a unique name for identifying each LiDAR or the group name when multiple LiDARs are combined. Specifically, the concatenated point cloud of all LiDARs is assigned the `<lidar group>` name `concatenated`. |
| GNSS-INS pose | T.B.D | [geometry_msgs/PoseWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/PoseWithCovarianceStamped.msg) | Initial pose of the ego vehicle from GNSS. Used by the Localization. |
| GNSS-INS Orientation | T.B.D | [sensor_msgs/Imu](https://github.com/ros2/common_interfaces/blob/rolling/sensor_msgs/msg/Imu.msg) | Orientation info from GNSS. Used by the Localization. |
| GNSS Velocity | T.B.D | [geometry_msgs/TwistWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/TwistWithCovarianceStamped.msg) | Velocity of the ego vehicle from GNSS. Used by the Localization. |
| GNSS Acceleration | T.B.D | [geometry_msgs/AccelWithCovarianceStamped](https://github.com/ros2/common_interfaces/blob/rolling/geometry_msgs/msg/AccelWithCovarianceStamped.msg) | Acceleration of the ego vehicle from GNSS. Used by the Localization. |
6 changes: 3 additions & 3 deletions ...g-vehicle-and-sensor-model/calibrating-sensors/lidar-lidar-calibration/index.md
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Expand Up @@ -37,7 +37,7 @@ The following shows an example of a bag file used for this calibration:
End: Sep 5 2023 11:25:43.808 (1693902343.808)
Messages: 2256
Topic information: Topic: /sensing/lidar/front/pointcloud_raw | Type: sensor_msgs/msg/PointCloud2 | Count: 1128 | Serialization Format: cdr
Topic: /sensing/lidar/top/outlier_filtered/pointcloud | Type: sensor_msgs/msg/PointCloud2 | Count: 1128 | Serialization Format: cdr
Topic: /sensing/lidar/top/pointcloud | Type: sensor_msgs/msg/PointCloud2 | Count: 1128 | Serialization Format: cdr
```

## Mapping-based lidar-lidar calibration
Expand Down Expand Up @@ -190,13 +190,13 @@ calibration_lidar_base_frames and calibration_lidar_frames for calibrator:
After that, we will add the sensor topics and sensor frames in order to do that,
we will continue filling the `mapping_based_sensor_kit.launch.xml` with
(we recommend
using the /sensing/lidar/top/outlier_filtered/pointcloud topic as the mapping pointcloud
using the /sensing/lidar/top/pointcloud topic as the mapping pointcloud
because the vehicle cloud is cropped at this topic by pointcloud preprocessing):

```diff

- <let name="mapping_lidar_frame" value="velodyne_top"/>
- <let name="mapping_pointcloud" value="/sensing/lidar/top/outlier_filtered/pointcloud"/>
- <let name="mapping_pointcloud" value="/sensing/lidar/top/pointcloud"/>
+ <let name="mapping_lidar_frame" value="<MAPPING_LIDAR_SENSOR_LINK>"/>
+ <let name="mapping_pointcloud" value="<MAPPING_LIDAR_POINTCLOUD_TOPIC_NAME>"/>

Expand Down
2 changes: 1 addition & 1 deletion ...ating-autoware/creating-vehicle-and-sensor-model/creating-sensor-model/index.md
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Expand Up @@ -524,7 +524,7 @@ you can modify the pipeline components like this way:
+ name="dual_return_outlier_filter",
remappings=[
("input", "rectified/pointcloud_ex"),
("output", "outlier_filtered/pointcloud"),
("output", "pointcloud"),
],
extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
)
Expand Down

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