feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation #3032

YoshiRi · 2023-03-08T17:23:23Z

Description

main changes

In last PR #2939, we set option for choosing occupancy grid map.
This PR tries to add another option that enables to separate gridmap origin frame and scan sensor frame. (See figure below)

This change will be useful in asymmetric range sensor such as Hokuyo Lidar or stereo camera, and multiple-sensor-based grid map fusion.

additional

fixed some bags that prevents this PR working.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

codecov · 2023-03-08T17:35:55Z

Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (8c6797e) 11.93% compared to head (41e878a) 11.93%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3032      +/-   ##
==========================================
- Coverage   11.93%   11.93%   -0.01%     
==========================================
  Files        1320     1320              
  Lines       91849    91872      +23     
  Branches    24469    24469              
==========================================
  Hits        10965    10965              
- Misses      69523    69546      +23     
  Partials    11361    11361

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.94% <ø> (+<0.01%)`	⬆️	Carriedforward from a3c78d0

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...id_map/laserscan_based_occupancy_grid_map_node.hpp	`0.00% <ø> (ø)`
...id_map/laserscan_based_occupancy_grid_map_node.cpp	`0.00% <0.00%> (ø)`
...ud_based_occupancy_grid_map/occupancy_grid_map.cpp	`0.00% <0.00%> (ø)`
...d_map/pointcloud_based_occupancy_grid_map_node.cpp	`0.00% <0.00%> (ø)`

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

YoshiRi · 2023-03-10T07:48:50Z

Still need to fix launch configuration please wait for a while

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

yukkysaito

LGTM

…dmap generation (autowarefoundation#3032) * add scan_frame and raytrace center Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add scan frame to laserscan based method Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update readme Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix typo Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update laucher in perception_launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix config and launch file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fixed laserscan based launcher Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

…owarefoundation#3032) * ci(.pre-commit-config-ansible.yaml): update ansible-lint version Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> * ci: change to v5.4.0 Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp> Signed-off-by: yukke42 <yusuke.muramatsu@tier4.jp>

…dmap generation (autowarefoundation#3032) * add scan_frame and raytrace center Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add scan frame to laserscan based method Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update readme Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix typo Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update laucher in perception_launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix config and launch file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fixed laserscan based launcher Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

YoshiRi added 3 commits March 9, 2023 01:09

add scan_frame and raytrace center

c451f9d

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

add scan frame to laserscan based method

abf022b

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

update readme

4ccf6a1

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) labels Mar 8, 2023

YoshiRi requested a review from soblin March 8, 2023 17:27

YoshiRi marked this pull request as ready for review March 8, 2023 17:32

YoshiRi requested review from yukkysaito and a team as code owners March 8, 2023 17:32

fix typo

71012bd

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

YoshiRi added 2 commits March 11, 2023 03:24

update laucher in perception_launch

4445065

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

fix config and launch file

a3c78d0

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

YoshiRi requested a review from miursh as a code owner March 10, 2023 18:26

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Mar 10, 2023

YoshiRi mentioned this pull request Mar 10, 2023

feat(probabilistic_occupancy_grid_map): add pointcloud filter in gridmap generation #3054

Merged

4 tasks

fixed laserscan based launcher

41e878a

Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

YoshiRi force-pushed the feature/add_option_to_gridmap_generation branch from 7dd1a66 to 41e878a Compare March 11, 2023 04:42

YoshiRi mentioned this pull request Mar 11, 2023

feat(tier4_perception_launch): refactored occupancy_grid_map launcher #3058

Merged

4 tasks

yukkysaito approved these changes Mar 14, 2023

View reviewed changes

YoshiRi merged commit 7a0f84c into autowarefoundation:main Mar 14, 2023

YoshiRi deleted the feature/add_option_to_gridmap_generation branch March 14, 2023 09:02

takayuki5168 mentioned this pull request Mar 14, 2023

fix(tier4_perception_launch): fix config path #3078

Merged

4 tasks

tier4-autoware-public-bot bot mentioned this pull request Mar 15, 2023

chore: sync upstream tier4/autoware.universe#316

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation #3032

feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation #3032

YoshiRi commented Mar 8, 2023 •

edited

Loading

codecov bot commented Mar 8, 2023 •

edited

Loading

YoshiRi commented Mar 10, 2023

yukkysaito left a comment

feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation #3032

feat(probablisitic_occupancy_grid_map): add scan_frame option for gridmap generation #3032

Conversation

YoshiRi commented Mar 8, 2023 • edited Loading

Description

main changes

additional

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Mar 8, 2023 • edited Loading

Codecov Report

YoshiRi commented Mar 10, 2023

yukkysaito left a comment

Choose a reason for hiding this comment

YoshiRi commented Mar 8, 2023 •

edited

Loading

codecov bot commented Mar 8, 2023 •

edited

Loading