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feat: add at128 perception example #11

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feat: add at128 perception example #11

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c171d1a
make minimum changes to enable at128 launch
bgilby59 Nov 20, 2023
8efddfc
add extra deps
bgilby59 Nov 21, 2023
5762bcf
add at128 launch
bgilby59 Nov 21, 2023
e289f87
modify references to edge_auto_launch
bgilby59 Nov 21, 2023
502c4a5
add updated roi detection objects fusion params
bgilby59 Nov 21, 2023
168a561
modify reference to edge_auto_launch
bgilby59 Nov 21, 2023
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70 changes: 70 additions & 0 deletions edge_auto_jetson_launch/config/can_assign_matrix.yaml
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/**:
ros__parameters:
can_assign_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg
[
1,
0,
0,
0,
0,
0,
0,
0, # UNKNOWN <-detected_objects
0,
1,
0,
0,
0,
0,
0,
0, # CAR
0,
0,
1,
0,
0,
0,
0,
0, # TRUCK
0,
0,
0,
1,
0,
0,
0,
0, # BUS
0,
0,
0,
0,
1,
0,
0,
0, # TRAILER
0,
0,
0,
0,
0,
1,
0,
0, # MOTORBIKE
0,
0,
0,
0,
0,
0,
1,
0, # BICYCLE
0,
0,
0,
0,
0,
0,
0,
1,
] # PEDESTRIAN
15 changes: 15 additions & 0 deletions edge_auto_jetson_launch/config/centerpoint.param.yaml
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/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 4
max_voxel_size: 40000
point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
voxel_size: [0.32, 0.32, 8.0]
downsample_factor: 1
encoder_in_feature_size: 9
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
15 changes: 15 additions & 0 deletions edge_auto_jetson_launch/config/centerpoint_tiny.param.yaml
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/**:
ros__parameters:
class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
point_feature_size: 4
max_voxel_size: 40000
point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0]
voxel_size: [0.32, 0.32, 6.0]
downsample_factor: 2
encoder_in_feature_size: 9
# post-process params
circle_nms_dist_threshold: 0.5
iou_nms_target_class_names: ["CAR"]
iou_nms_search_distance_2d: 10.0
iou_nms_threshold: 0.1
yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
38 changes: 38 additions & 0 deletions edge_auto_jetson_launch/config/detection_class_remapper.param.yaml
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/**:
ros__parameters:
allow_remapping_by_area_matrix:
# NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2].
# NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2]
# row: original class. column: class to remap to
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN
[0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN
0, 0, 1, 0, 1, 0, 0, 0, #CAR
0, 0, 0, 0, 1, 0, 0, 0, #TRUCK
0, 0, 0, 0, 1, 0, 0, 0, #BUS
0, 0, 0, 0, 0, 0, 0, 0, #TRAILER
0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE
0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE
0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN

min_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN


max_area_matrix:
#UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
[ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN
0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK
0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE
0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN
5 changes: 5 additions & 0 deletions edge_auto_jetson_launch/config/roi_sync.param.yaml
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/**:
ros__parameters:
input_offset_ms: [50.0, 50.0]
timeout_ms: 70.0
match_threshold_ms: 50.0
49 changes: 49 additions & 0 deletions edge_auto_jetson_launch/launch/component/crop_box_filter.launch.xml
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<launch>
<arg name="input/pointcloud" default="input/pointcloud"/>
<arg name="output/pointcloud" default="output/pointcloud"/>
<arg name="frame_id" default="lidar"/>

<arg name="min_x" default="-100.0"/>
<arg name="min_y" default="-100.0"/>
<arg name="min_z" default="-100.0"/>
<arg name="max_x" default="100.0"/>
<arg name="max_y" default="100.0"/>
<arg name="max_z" default="100.0"/>
<arg name="negative" default="false" description="If true, points outside of the box will be published"/>
<arg name="container_name" default=""/>

<let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
<group if="$(var empty_container_is_specified)">
<node pkg="pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter">
<remap from="input" to="$(var input/pointcloud)"/>
<remap from="output" to="$(var output/pointcloud)"/>
<param name="input_frame" value="$(var frame_id)"/>
<param name="output_frame" value="$(var frame_id)"/>
<param name="min_x" value="$(var min_x)"/>
<param name="min_y" value="$(var min_y)"/>
<param name="min_z" value="$(var min_z)"/>
<param name="max_x" value="$(var max_x)"/>
<param name="max_y" value="$(var max_y)"/>
<param name="max_z" value="$(var max_z)"/>
<param name="negative" value="$(var negative)"/>
</node>
</group>

<group unless="$(var empty_container_is_specified)">
<load_composable_node target="$(var container_name)">
<composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter">
<param name="input_frame" value="$(var frame_id)"/>
<param name="output_frame" value="$(var frame_id)"/>
<param name="min_x" value="$(var min_x)"/>
<param name="min_y" value="$(var min_y)"/>
<param name="min_z" value="$(var min_z)"/>
<param name="max_x" value="$(var max_x)"/>
<param name="max_y" value="$(var max_y)"/>
<param name="max_z" value="$(var max_z)"/>
<param name="negative" value="$(var negative)"/>
<extra_arg name="use_intra_process_comms" value="$(var use_intra_process)"/>
</composable_node>
</load_composable_node>
</group>

</launch>
75 changes: 75 additions & 0 deletions edge_auto_jetson_launch/launch/component/hesai_at128.launch.xml
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<launch>
<arg name="live_sensor" default="True"/>
<arg name="sensor_model" default="PandarAT128"/>
<arg name="return_mode" default="Strongest"/>
<arg name="frame_id" default="lidar"/>
<arg name="scan_phase" default="0.0"/>
<arg name="namespace" default=""/>
<arg name="calibration_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).csv"/>
<arg name="correction_file" default="$(find-pkg-share nebula_decoders)/calibration/hesai/$(var sensor_model).dat"/>
<arg name="sensor_ip" default="192.168.1.201"/>
<arg name="host_ip" default="192.168.1.100"/>
<arg name="data_port" default="2368"/>
<arg name="gnss_port" default="10110"/>
<arg name="packet_mtu_size" default="1500"/>
<arg name="rotation_speed" default="200"/>
<arg name="cloud_min_angle" default="0"/>
<arg name="cloud_max_angle" default="360" />
<arg name="dual_return_distance_threshold" default="0.1"/>
<arg name="diag_span" default="1000"/>
<arg name="setup_sensor" default="True"/>

<group>
<node_container pkg="rclcpp_components" exec="component_container" name="nebula_at128_node" namespace="/">
<composable_node pkg="nebula_ros" plugin="HesaiDriverRosWrapper" name="hesai_driver_roswrapper_node" namespace="$(var namespace)">

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<param name="sensor_model" value="$(var sensor_model)"/>
<param name="return_mode" value="$(var return_mode)"/>
<param name="frame_id" value="$(var frame_id)"/>
<param name="scan_phase" value="$(var scan_phase)"/>
<param name="calibration_file" value="$(var calibration_file)"/>
<param name="correction_file" value="$(var correction_file)"/>
<remap from="pandar_points" to="pointcloud_raw"/>
<extra_arg name="use_intra_process_comms" value="true"/>
</composable_node>
</node_container>

<load_composable_node target="nebula_at128_node" if="$(var live_sensor)">
<composable_node pkg="nebula_ros" plugin="HesaiHwInterfaceRosWrapper" name="hesai_hw_interface_ros_wrapper_node" namespace="$(var namespace)">
<param name="sensor_model" value="$(var sensor_model)"/>
<param name="return_mode" value="$(var return_mode)"/>
<param name="frame_id" value="$(var frame_id)"/>
<param name="scan_phase" value="$(var scan_phase)"/>
<param name="sensor_ip" value="$(var sensor_ip)"/>
<param name="frame_id" value="$(var frame_id)"/>
<param name="host_ip" value="$(var host_ip)"/>
<param name="data_port" value="$(var data_port)"/>
<param name="gnss_port" value="$(var gnss_port)"/>
<param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
<param name="rotation_speed" value="$(var rotation_speed)"/>
<param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
<param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
<param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<param name="setup_sensor" value="$(var setup_sensor)"/>
<extra_arg name="use_intra_process_comms" value="true"/>
</composable_node>
<composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
<param name="sensor_model" value="$(var sensor_model)"/>
<param name="return_mode" value="$(var return_mode)"/>
<param name="frame_id" value="$(var frame_id)"/>
<param name="scan_phase" value="$(var scan_phase)"/>
<param name="sensor_ip" value="$(var sensor_ip)"/>
<param name="frame_id" value="$(var frame_id)"/>
<param name="host_ip" value="$(var host_ip)"/>
<param name="data_port" value="$(var data_port)"/>
<param name="gnss_port" value="$(var gnss_port)"/>
<param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
<param name="rotation_speed" value="$(var rotation_speed)"/>
<param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
<param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
<param name="diag_span" value="$(var diag_span)"/>
<param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
<extra_arg name="use_intra_process_comms" value="true"/>
</composable_node>
</load_composable_node>
</group>
</launch>
54 changes: 54 additions & 0 deletions edge_auto_jetson_launch/launch/component/lidar_camera_tf_publisher.launch.py
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from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import OpaqueFunction
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
import json

def launch_setup(context, *args, **kwargs):
tf_file = LaunchConfiguration('tf_file_path').perform(context)
with open(tf_file, 'r') as f:
tf_data = json.load(f)

return [
Node(
name="lidar_camera_tf_publisher",
package='tf2_ros',
executable='static_transform_publisher',
arguments=[
'--x', str(tf_data['transform']['translation']['x']),
'--y', str(tf_data['transform']['translation']['y']),
'--z', str(tf_data['transform']['translation']['z']),
'--qx', str(tf_data['transform']['rotation']['x']),
'--qy', str(tf_data['transform']['rotation']['y']),
'--qz', str(tf_data['transform']['rotation']['z']),
'--qw', str(tf_data['transform']['rotation']['w']),
'--frame-id', str(tf_data['header']['frame_id']),
'--child-frame-id', str(tf_data['child_frame_id'])
]),
Node(
name="camera_optical_link_publisher",
package='tf2_ros',
executable='static_transform_publisher',
arguments=[
'--x', '0.0',
'--y', '0.0',
'--z', '0.0',
'--qx', '0.5',
'--qy', '-0.5',
'--qz', '0.5',
'--qw', '-0.5',
'--frame-id', str(tf_data['child_frame_id']),
'--child-frame-id', str(tf_data['child_frame_id'].replace('camera_link',
'camera_optical_link'))
])
]

def generate_launch_description():
return LaunchDescription(
[
DeclareLaunchArgument("tf_file_path"),
OpaqueFunction(function=launch_setup),
]
)

32 changes: 32 additions & 0 deletions edge_auto_jetson_launch/launch/component/lidar_centerpoint.launch.xml
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<launch>
<arg name="input/pointcloud" default="input/pointcloud"/>
<arg name="output/objects" default="output/objects"/>
<arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
<arg name="model_path" default="/opt/autoware/data/lidar_centerpoint/"/>
<arg name="model_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/$(var model_name).param.yaml"/>
<arg name="class_remapper_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/detection_class_remapper.param.yaml"/>
<arg name="score_threshold" default="0.35"/>
<arg name="densification_world_frame_id" default="map"/>
<arg name="densification_num_past_frames" default="1"/>
<arg name="has_twist" default="false"/>
<arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>

<group>
<node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
<remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
<remap from="~/output/objects" to="$(var output/objects)"/>
<param name="score_threshold" value="$(var score_threshold)"/>
<param name="densification_world_frame_id" value="$(var densification_world_frame_id)"/>
<param name="densification_num_past_frames" value="$(var densification_num_past_frames)"/>
<param name="trt_precision" value="fp16"/>
<param name="has_twist" value="$(var has_twist)"/>
<param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
<param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
<param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>
<param name="head_engine_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).engine"/>
<param name="build_only" value="$(var build_only)"/>
<param from="$(var model_param_path)"/>
<param from="$(var class_remapper_param_path)"/>
</node>
</group>
</launch>
36 changes: 36 additions & 0 deletions edge_auto_jetson_launch/launch/component/roi_detected_objects_fusion.launch.xml
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<launch>
<arg name="input/rois_number" default="2"/>
<arg name="input/rois0" default="input/rois0"/>
<arg name="input/camera_info0" default="input/camera_info0"/>
<arg name="input/rois1" default="input/rois1"/>
<arg name="input/camera_info1" default="input/camera_info1"/>

<arg name="input/objects" default="input/objects"/>
<arg name="output/objects" default="output/objects"/>
<arg name="sync_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/roi_sync.param.yaml"/>
<arg name="can_assign_matrix_param_path" default="$(find-pkg-share edge_auto_jetson_launch)/config/can_assign_matrix.yaml"/>

<!-- for eval variable-->
<arg name="input_rois_number" default="$(var input/rois_number)"/>

<group>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/rois0" to="$(var input/rois0)"/>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '1' &quot;)" from="input/camera_info0" to="$(var input/camera_info0)"/>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
<set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>

<node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
<param name="rois_number" value="$(var input/rois_number)"/>
<param from="$(var sync_param_path)"/>
<remap from="input" to="$(var input/objects)"/>
<remap from="output" to="$(var output/objects)"/>
<param name="passthrough_lower_bound_probability_thresholds" value="[0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35, 0.35]"/>
<param name="use_roi_probability" value="false"/>
<param name="roi_probability_threshold" value="0.5"/>
<param name="min_iou_threshold" value="0.3"/>
<param name="debug_mode" value="false"/>
<param name="trust_distances" value="[100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0, 100.0]"/>
<param from="$(var can_assign_matrix_param_path)"/>
</node>
</group>
</launch>
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