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chore: sync tier4/autoware.universe:awf-latest #1695

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chore: sync tier4/autoware.universe:awf-latest #1695

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3c94dbf
fix(tier4_perception_launch): update multi-channel subscribing channe…
technolojin Dec 12, 2024
41ca768
refactor(autoware_test_utils): enhance makeMapBinMsg to accept packag…
kyoichi-sugahara Dec 12, 2024
4bfb753
refactor(tier4_perception_launch): refactoring detection launchers (#…
technolojin Dec 12, 2024
b58d8f6
fix(lane_change): remove overlapping preceding lanes (#9526)
zulfaqar-azmi-t4 Dec 12, 2024
cccbcef
refactor(lane_change): separate structs to different folders (#9625)
zulfaqar-azmi-t4 Dec 12, 2024
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14 changes: 10 additions & 4 deletions common/autoware_test_utils/include/autoware_test_utils/autoware_test_utils.hpp
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Expand Up @@ -213,15 +213,21 @@ LaneletMapBin make_map_bin_msg(
const std::string & absolute_path, const double center_line_resolution = 5.0);

/**
* @brief Creates a LaneletMapBin message using a predefined Lanelet2 map file.
* @brief Creates a LaneletMapBin message using a Lanelet2 map file.
*
* This function loads a lanelet2_map.osm from the test_map folder in the
* autoware_test_utils package, overwrites the centerline with a resolution of 5.0,
* This function loads a specified map file from the test_map folder in the
* specified package (or autoware_test_utils if no package is specified),
* overwrites the centerline with a resolution of 5.0,
* and converts the map to a LaneletMapBin message.
*
* @param package_name The name of the package containing the map file. If empty, defaults to
* "autoware_test_utils".
* @param map_filename The name of the map file (e.g. "lanelet2_map.osm")
* @return A LaneletMapBin message containing the map data.
*/
LaneletMapBin makeMapBinMsg();
LaneletMapBin makeMapBinMsg(
const std::string & package_name = "autoware_test_utils",
const std::string & map_filename = "lanelet2_map.osm");

/**
* @brief Creates an Odometry message with a specified shift.
Expand Down
5 changes: 2 additions & 3 deletions common/autoware_test_utils/src/autoware_test_utils.cpp
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Expand Up @@ -180,10 +180,9 @@ LaneletMapBin make_map_bin_msg(
return map_bin_msg;
}

LaneletMapBin makeMapBinMsg()
LaneletMapBin makeMapBinMsg(const std::string & package_name, const std::string & map_filename)
{
return make_map_bin_msg(
get_absolute_path_to_lanelet_map("autoware_test_utils", "lanelet2_map.osm"));
return make_map_bin_msg(get_absolute_path_to_lanelet_map(package_name, map_filename));
}

Odometry makeOdometry(const double shift)
Expand Down
55 changes: 32 additions & 23 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -47,37 +47,40 @@
<arg name="input/camera7/info"/>
<arg name="input/camera7/rois"/>
<arg name="input/radar"/>

<arg name="input/tracked_objects" default="/perception/object_recognition/tracking/objects"/>
<arg name="output/objects" default="objects"/>

<!-- internal interfaces -->
<arg name="pointcloud_filter/output/pointcloud" default="$(var ns)/pointcloud_map_filtered/pointcloud"/>
<arg name="lidar_ml_detector/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/objects"/>
<arg name="lidar_rule_detector/output/objects" default="$(var ns)/clustering/objects"/>
<arg name="camera_lidar_rule_detector/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/objects"/>
<arg name="tracker_based_detector/output/objects" default="$(var ns)/detection_by_tracker/objects"/>
<arg name="lidar_object_filter/output/objects" default="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
<arg name="camera_lidar_object_filter/output/objects" default="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
<arg name="radar_pipeline/output/objects" default="$(var ns)/radar/far_objects"/>
<arg name="radar_object_filter/output/objects" default="$(var ns)/radar/far_objects"/>
<let name="pointcloud_filter/output/pointcloud" value="$(var ns)/pointcloud_map_filtered/pointcloud"/>
<let name="lidar_ml_detector/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/objects"/>
<let name="lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
<let name="lidar_rule_detector/output/objects" value="$(var ns)/clustering/objects"/>
<let name="camera_lidar_rule_detector/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects"/>
<let name="camera_lidar_rule_detector/output/cluster_objects" value="$(var ns)/clustering/objects_with_feature"/>
<let name="tracker_based_detector/input/clusters" value="$(var ns)/clustering/objects_with_feature"/>
<let name="tracker_based_detector/output/objects" value="$(var ns)/detection_by_tracker/objects"/>
<let name="lidar_object_filter/output/objects" value="$(var ns)/$(var lidar_detection_model_type)/validation/objects"/>
<let name="camera_lidar_object_filter/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/filtered/objects"/>
<let name="radar_pipeline/output/objects" value="$(var ns)/radar/far_objects"/>
<let name="radar_object_filter/output/objects" value="$(var ns)/radar/far_objects"/>

<!-- Module switching -->
<arg name="switch/detector/camera_lidar" default="false"/>
<arg name="switch/detector/lidar_dnn" default="false"/>
<arg name="switch/detector/lidar_rule" default="false"/>
<arg name="switch/detector/radar" default="false"/>
<arg name="switch/detector/radar_only" default="false"/>
<arg name="switch/detector/tracker_based" default="false"/>
<let name="switch/detector/camera_lidar" value="false"/>
<let name="switch/detector/lidar_dnn" value="false"/>
<let name="switch/detector/lidar_rule" value="false"/>
<let name="switch/detector/radar" value="false"/>
<let name="switch/detector/radar_only" value="false"/>
<let name="switch/detector/tracker_based" value="false"/>
<let name="switch/detector/tracker_based" value="true" if="$(var use_detection_by_tracker)"/>

<arg name="switch/filter/pointcloud" default="false"/>
<arg name="switch/filter/camera_lidar_object" default="false"/>
<arg name="switch/filter/lidar_object" default="false"/>
<let name="switch/filter/pointcloud" value="false"/>
<let name="switch/filter/camera_lidar_object" value="false"/>
<let name="switch/filter/lidar_object" value="false"/>

<arg name="switch/merger/camera_lidar_radar" default="false"/>
<arg name="switch/merger/camera_lidar" default="false"/>
<arg name="switch/merger/lidar_radar" default="false"/>
<arg name="switch/merger/lidar" default="false"/>
<let name="switch/merger/camera_lidar_radar" value="false"/>
<let name="switch/merger/camera_lidar" value="false"/>
<let name="switch/merger/lidar_radar" value="false"/>
<let name="switch/merger/lidar" value="false"/>

<group scoped="false" if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<let name="switch/filter/pointcloud" value="true"/>
Expand Down Expand Up @@ -129,6 +132,7 @@
<group if="$(var switch/detector/camera_lidar)">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="ns" value="$(var ns)"/>
<arg name="number_of_cameras" value="$(var number_of_cameras)"/>
<arg name="input/camera0/image" value="$(var input/camera0/image)"/>
<arg name="input/camera0/info" value="$(var input/camera0/info)"/>
Expand Down Expand Up @@ -159,6 +163,7 @@
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
<arg name="output/ml_detector/objects" value="$(var lidar_ml_detector/output/objects)"/>
<arg name="output/rule_detector/objects" value="$(var camera_lidar_rule_detector/output/objects)"/>
<arg name="output/clustering/cluster_objects" value="$(var camera_lidar_rule_detector/output/cluster_objects)"/>
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
<arg name="lidar_detection_model_type" value="$(var lidar_detection_model_type)"/>
<arg name="lidar_detection_model_name" value="$(var lidar_detection_model_name)"/>
Expand All @@ -182,9 +187,11 @@
<group if="$(var switch/detector/lidar_rule)">
<!-- Lidar rule-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
<arg name="ns" value="$(var ns)"/>
<arg name="node/pointcloud_container" value="$(var node/pointcloud_container)"/>
<arg name="input/pointcloud_map/pointcloud" value="$(var pointcloud_filter/output/pointcloud)"/>
<arg name="input/obstacle_segmentation/pointcloud" value="$(var input/obstacle_segmentation/pointcloud)"/>
<arg name="output/cluster_objects" value="$(var lidar_rule_detector/output/cluster_objects)"/>
<arg name="output/objects" value="$(var lidar_rule_detector/output/objects)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
</include>
Expand Down Expand Up @@ -217,6 +224,8 @@
<!-- DetectionByTracker -->
<group if="$(var switch/detector/tracker_based)">
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/tracker_based_detector.launch.xml">
<arg name="input/clusters" value="$(var tracker_based_detector/input/clusters)"/>
<arg name="input/tracked_objects" value="$(var input/tracked_objects)"/>
<arg name="output/objects" value="$(var tracker_based_detector/output/objects)"/>
<arg name="detection_by_tracker_param_path" value="$(var object_recognition_detection_detection_by_tracker_param)"/>
</include>
Expand Down
83 changes: 55 additions & 28 deletions ...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
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@@ -1,5 +1,8 @@
<?xml version="1.0"?>
<launch>
<!-- Current namespace -->
<arg name="ns" description="current namespace"/>

<!-- Lidar + Camera detector parameters -->
<arg name="lidar_detection_model_type" description="options: `transfusion`, `centerpoint`, `pointpainting`, `apollo`, `clustering`"/>
<arg name="lidar_detection_model_name" description="options: `transfusion`, `centerpoint`, `centerpoint_tiny`, `centerpoint_sigma`, `pointpainting`"/>
Expand Down Expand Up @@ -41,6 +44,35 @@

<arg name="output/ml_detector/objects"/>
<arg name="output/rule_detector/objects"/>
<arg name="output/clustering/cluster_objects"/>

<!-- Internal interfaces -->
<let name="pointpainting/input/pointcloud" value="$(var input/pointcloud)"/>
<let name="pointpainting/output/objects" value="$(var output/ml_detector/objects)"/>

<let name="segmentation_based_filtered/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<let name="segmentation_based_filtered/output/pointcloud" value="$(var ns)/segmentation_based_filtered/pointcloud"/>

<let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
<let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
<let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
<let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
<let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
<let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
<let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
<let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
<let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>

<let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
<let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
<let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
<let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
<let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
<let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
<let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
<let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
<let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>

<!-- Jetson AGX -->
<!-- <include file="$(find-pkg-share autoware_tensorrt_yolox)/launch/multiple_yolox.launch.xml">
Expand Down Expand Up @@ -85,8 +117,8 @@
<arg name="input/image5" value="$(var input/camera5/image)"/>
<arg name="input/image6" value="$(var input/camera6/image)"/>
<arg name="input/image7" value="$(var input/camera7/image)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="output/objects" value="$(var output/ml_detector/objects)"/>
<arg name="input/pointcloud" value="$(var pointpainting/input/pointcloud)"/>
<arg name="output/objects" value="$(var pointpainting/output/objects)"/>

<arg name="model_name" value="$(var lidar_detection_model_name)"/>
<arg name="model_path" value="$(var pointpainting_model_path)"/>
Expand All @@ -101,23 +133,20 @@
<!-- Image_segmentation based filter, apply for camera0 only-->
<group>
<include file="$(find-pkg-share autoware_image_projection_based_fusion)/launch/segmentation_pointcloud_fusion.launch.xml" if="$(var use_image_segmentation_based_filter)">
<arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<arg name="output/pointcloud" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud"/>
<arg name="input/pointcloud" value="$(var segmentation_based_filtered/input/pointcloud)"/>
<arg name="output/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)"/>
</include>
</group>

<!-- Clustering -->
<group>
<push-ros-namespace namespace="clustering"/>
<group>
<let name="euclidean_cluster_input" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
<let name="euclidean_cluster_input" value="/perception/object_recognition/detection/segmentation_based_filtered/pointcloud" if="$(var use_image_segmentation_based_filter)"/>
<let name="euclidean_cluster_output" value="euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
<let name="euclidean_cluster_output" value="clusters" unless="$(var use_roi_based_cluster)"/>
<include file="$(find-pkg-share autoware_euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
<arg name="input_pointcloud" value="$(var euclidean_cluster_input)"/>
<arg name="output_clusters" value="$(var euclidean_cluster_output)"/>
<arg name="input_pointcloud" value="$(var euclidean_cluster/input/pointcloud)"/>
<arg name="output_clusters" value="$(var euclidean_cluster/output/clusters)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_pointcloud_container" value="false"/>
</include>
</group>

Expand Down Expand Up @@ -151,8 +180,8 @@
<arg name="input/image5" value="$(var input/camera5/image)"/>
<arg name="input/image6" value="$(var input/camera6/image)"/>
<arg name="input/image7" value="$(var input/camera7/image)"/>
<arg name="input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
<arg name="output_clusters" value="clusters"/>
<arg name="input/pointcloud" value="$(var roi_cluster/input/pointcloud)"/>
<arg name="output_clusters" value="$(var roi_cluster/output/clusters)"/>
<arg name="param_path" value="$(var roi_pointcloud_fusion_param_path)"/>
</include>
</group>
Expand All @@ -161,21 +190,21 @@
<!-- simple_cluster_merger -->
<group>
<include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
<arg name="input/cluster0" value="euclidean_cluster/clusters"/>
<arg name="input/cluster1" value="roi_cluster/clusters"/>
<arg name="output/clusters" value="clusters"/>
<arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
<arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
<arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
</include>
</group>

<!-- shape_estimation 1 -->
<group>
<include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="input/objects" value="$(var shape_estimation1/input/clusters)"/>
<arg name="output/objects" value="$(var shape_estimation1/output/objects)"/>
</include>
</group>

<group>
<let name="input/clustering" value="/perception/object_recognition/detection/clustering/clusters"/>
<push-ros-namespace namespace="camera_lidar_fusion"/>
<!-- Fusion camera-lidar to classify -->

Expand Down Expand Up @@ -207,33 +236,31 @@
<arg name="input/image5" value="$(var input/camera5/image)"/>
<arg name="input/image6" value="$(var input/camera6/image)"/>
<arg name="input/image7" value="$(var input/camera7/image)"/>
<arg name="input/clusters" value="$(var input/clustering)"/>
<arg name="output/clusters" value="clusters"/>
<arg name="input/clusters" value="$(var roi_cluster_fusion/input/clusters)"/>
<arg name="output/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
<arg name="param_path" value="$(var roi_cluster_fusion_param_path)"/>
</include>
</group>

<!-- low_intensity_cluster_filter -->
<group>
<include file="$(find-pkg-share autoware_raindrop_cluster_filter)/launch/low_intensity_cluster_filter.launch.xml" if="$(var use_low_intensity_cluster_filter)">
<arg name="input/objects" value="clusters"/>
<arg name="output/objects" value="filtered/clusters"/>
<arg name="input/objects" value="$(var low_intensity_cluster_filter/input/clusters)"/>
<arg name="output/objects" value="$(var low_intensity_cluster_filter/output/clusters)"/>
</include>
</group>

<group>
<let name="shape_estimation/input" value="filtered/clusters" if="$(var use_low_intensity_cluster_filter)"/>
<let name="shape_estimation/input" value="clusters" unless="$(var use_low_intensity_cluster_filter)"/>
<include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
<arg name="input/objects" value="$(var shape_estimation/input)"/>
<arg name="output/objects" value="objects_with_feature"/>
<arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>
<arg name="output/objects" value="$(var shape_estimation2/output/objects)"/>
</include>
</group>
<!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
<group>
<include file="$(find-pkg-share autoware_detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
<arg name="input" value="objects_with_feature"/>
<arg name="output" value="$(var output/rule_detector/objects)"/>
<arg name="input" value="$(var detected_object_feature_remover/input/objects_with_feature)"/>
<arg name="output" value="$(var detected_object_feature_remover/output/objects)"/>
</include>
</group>
</group>
Expand Down
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