Merge pull request autowarefoundation#218 from tier4/sync-upstream

chore: sync upstream
badai-nguyen · Mar 31, 2022 · f07fe2b · f07fe2b
2 parents 0656aa6 + c57b1c1
commit f07fe2b
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Showing 28 changed files with 324 additions and 163 deletions.
diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml
@@ -19,3 +19,4 @@
   files:
     - source: .github/workflows/build-and-test.yaml
     - source: .github/workflows/build-and-test-differential.yaml
+    - source: .github/workflows/sync-files.yaml
diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml
@@ -12,20 +12,20 @@ jobs:
         uses: styfle/cancel-workflow-action@0.9.1
 
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
       - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
       - name: Get modified packages
         id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
       - name: Build
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
@@ -34,7 +34,7 @@ jobs:
       - name: Test
         id: test
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
@@ -54,22 +54,22 @@ jobs:
     needs: build-and-test-differential
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
       - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
       - name: Get modified packages
         id: get-modified-packages
-        uses: autowarefoundation/autoware-github-actions/get-modified-packages@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1
 
       - name: Run clang-tidy
         if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/clang-tidy@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/clang-tidy@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
-          clang-tidy-config-url: https://github.com/autowarefoundation/autoware/tier4/proposal/.clang-tidy
+          clang-tidy-config-url: https://github.com/autowarefoundation/autoware/main/.clang-tidy
           build-depends-repos: build_depends.repos
diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml
@@ -3,7 +3,7 @@ name: build-and-test
 on:
   push:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -13,18 +13,18 @@ jobs:
     container: ghcr.io/autowarefoundation/autoware-universe:latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Remove exec_depend
-        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
       - name: Get self packages
         id: get-self-packages
-        uses: autowarefoundation/autoware-github-actions/get-self-packages@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/get-self-packages@v1
 
       - name: Build
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
-        uses: autowarefoundation/autoware-github-actions/colcon-build@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-build@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
@@ -33,7 +33,7 @@ jobs:
       - name: Test
         if: ${{ steps.get-self-packages.outputs.self-packages != '' }}
         id: test
-        uses: autowarefoundation/autoware-github-actions/colcon-test@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/colcon-test@v1
         with:
           rosdistro: galactic
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}

diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml
@@ -8,9 +8,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config-optional.yaml
diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml
@@ -8,9 +8,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Run pre-commit
-        uses: autowarefoundation/autoware-github-actions/pre-commit@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/pre-commit@v1
         with:
           pre-commit-config: .pre-commit-config.yaml
diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml
@@ -9,4 +9,4 @@ on:
 
 jobs:
   semantic-pull-request:
-    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@tier4/proposal
+    uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1
diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml
@@ -8,9 +8,9 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v2
+        uses: actions/checkout@v3
 
       - name: Run spell-check
-        uses: autowarefoundation/autoware-github-actions/spell-check@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/spell-check@v1
         with:
           cspell-json-url: https://github.com/tier4/autoware-spell-check-dict/main/.cspell.json
diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml
@@ -2,7 +2,7 @@ name: sync-files
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -17,6 +17,6 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Run sync-files
-        uses: autowarefoundation/autoware-github-actions/sync-files@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/sync-files@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
diff --git a/.github/workflows/sync-param-files.yaml b/.github/workflows/sync-param-files.yaml
@@ -2,7 +2,7 @@ name: sync-upstream
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:

diff --git a/.github/workflows/sync-upstream.yaml b/.github/workflows/sync-upstream.yaml
@@ -2,7 +2,7 @@ name: sync-upstream
 
 on:
   schedule:
-    - cron: 0 19 * * * # run at 4 AM JST
+    - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
@@ -17,7 +17,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Run sync-branches
-        uses: autowarefoundation/autoware-github-actions/sync-branches@tier4/proposal
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
         with:
           token: ${{ steps.generate-token.outputs.token }}
           base-branch: tier4/universe

diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml
@@ -1,6 +1,6 @@
 repos:
   - repo: https://github.com/tcort/markdown-link-check
-    rev: v3.9.3
+    rev: v3.10.0
     hooks:
       - id: markdown-link-check
         args: [--config=.markdown-link-check.json]
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1309,43 +1309,33 @@ Visualization Manager:
                       Enabled: true
                       Name: ObstacleAvoidance
                       Namespaces:
-                        avoiding_objects: false
-                        base_bounds_line: false
-                        bounds_candidate_base_text: false
-                        bounds_candidate_for_base: false
-                        bounds_candidate_for_top: false
-                        bounds_candidate_top_text: false
-                        constrain_rect: false
-                        constrain_rect_text: false
-                        constrain_rect_location: false
-                        current_vehicle_footprint: false
-                        extending_constrain_rect: false
-                        extending_constrain_rect_text: false
-                        extending_constrain_rect_location: false
-                        fixed_mpt_points: false
-                        fixed_points_for_extending: false
-                        fixed_points_marker: false
-                        interpolated_points_for_extending: false
-                        interpolated_points_marker: false
-                        interpolated_points_text_marker: false
-                        non_fixed_points_for_extending: false
-                        non_fixed_points_marker: false
-                        num_vehicle_footprint: false
-                        optimized_points_marker: false
-                        optimized_points_text_marker: false
-                        smoothed_points_text: false
-                        straight_points_marker: false
-                        top_bounds_line: false
-                        mid_bounds_line: false
-                        vehicle_footprint: false
+                        base_bounds_0: false
+                        base_bounds_1: false
+                        base_bounds_2: false
+                        current_vehicle_circles: false
+                        lateral_errors: false
+                        mpt_footprints: false
+                        vehicle_circle_lines: false
+                        vehicle_circles: false
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
+                      Value: true
+                    - Class: rviz_default_plugins/MarkerArray
+                      Enabled: true
+                      Name: ObstacleAvoidanceWall
+                      Namespaces:
                         virtual_wall: true
                         virtual_wall_text: true
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
+                        Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/wall_marker
                       Value: true
                   Enabled: true
                   Name: MotionPlanning

diff --git a/localization_launch/config/ndt_scan_matcher.param.yaml b/localization_launch/config/ndt_scan_matcher.param.yaml
@@ -29,6 +29,12 @@
     # The number of particles to estimate initial pose
     initial_estimate_particles_num: 100
 
+    # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
+    initial_pose_timeout_sec: 1.0
+
+    # Tolerance of distance difference between two initial poses used for linear interpolation. [m]
+    initial_pose_distance_tolerance_m: 10.0
+
     # neighborhood search method in OMP
     # 0=KDTREE, 1=DIRECT26, 2=DIRECT7, 3=DIRECT1
     omp_neighborhood_search_method: 0

diff --git a/localization_launch/launch/pose_estimator/pose_estimator.launch.xml b/localization_launch/launch/pose_estimator/pose_estimator.launch.xml
@@ -3,7 +3,7 @@
 
   <include file="$(find-pkg-share ndt_scan_matcher)/launch/ndt_scan_matcher.launch.xml">
     <arg name="input_map_points_topic" value="/map/pointcloud_map"/>
-    <arg name="input_sensor_points_topic" value="/localization/util/downsample/pointcloud"/>
+    <arg name="input/pointcloud" value="/localization/util/downsample/pointcloud"/>
     <arg name="input_initial_pose_topic" value="/localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias"/>
 
 

diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -17,8 +17,9 @@
   <arg name="image_raw7" default="/image_raw7"/>
   <arg name="camera_info7" default="/camera_info7"/>
   <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
-  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
   <arg name="lidar_detection_model" default="centerpoint" description="options: `centerpoint`, `apollo`"/>
+  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
+  <arg name="input_pointcloud" default="/perception/obstacle_segmentation/pointcloud"/>
 
   <!-- Jetson AGX -->
   <!-- <include file="$(find-pkg-share tensorrt_yolo)/launch/yolo.launch.xml">
@@ -33,9 +34,22 @@
     <arg name="image_number" value="$(var image_number)"/>
   </include> -->
 
+  <!-- Pointcloud map filter -->
+  <group>
+    <include file="$(find-pkg-share compare_map_segmentation)/launch/voxel_based_compare_map_filter.launch.xml" if="$(var use_pointcloud_map)">
+      <arg name="input" value="$(var input_pointcloud)" />
+      <arg name="input_map" value="/map/pointcloud_map" />
+      <arg name="output" value="pointcloud_map_filtered/pointcloud" />
+      <arg name="distance_threshold" value="0.5" />
+    </include>
+  </group>
+
   <group>
     <push-ros-namespace namespace="clustering"/>
+    <let name="clustering/input/pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+    <let name="clustering/input/pointcloud" value="$(var input_pointcloud)" unless="$(var use_pointcloud_map)"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
+      <arg name="input_pointcloud" value="$(var clustering/input/pointcloud)"/>
       <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
     </include>
@@ -85,6 +99,13 @@
     </include>
   </group>
 
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
+
   <!-- CenterPoint -->
   <group if="$(eval &quot;'$(var lidar_detection_model)'=='centerpoint'&quot;)">
     <push-ros-namespace namespace="centerpoint"/>
@@ -110,16 +131,20 @@
     </group>
   </group>
 
-  <!-- DetectionByTracker -->
+  <!-- Validator -->
   <group>
-    <push-ros-namespace namespace="detection_by_tracker"/>
-    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    <let name="validator/input/obstacle_pointcloud" value="/perception/object_recognition/detection/pointcloud_map_filtered/pointcloud" if="$(var use_pointcloud_map)"/>
+    <let name="validator/input/obstacle_pointcloud" value="$(var input_pointcloud)" unless="$(var use_pointcloud_map)"/>
+    <include file="$(find-pkg-share detected_object_validation)/launch/obstacle_pointcloud_based_validator.launch.xml">
+      <arg name="input/detected_objects" value="$(var lidar_detection_model)/objects"/>
+      <arg name="input/obstacle_pointcloud" value="$(var validator/input/obstacle_pointcloud)"/>
+      <arg name="output/objects" value="$(var lidar_detection_model)/validation/objects"/>
     </include>
   </group>
 
   <!-- Merger -->
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
-    <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
+    <arg name="input/object0" value="$(var lidar_detection_model)/validation/objects"/>
     <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
     <arg name="output/object" value="camera_lidar_fusion/objects"/>
   </include>

diff --git a/perception_launch/launch/object_recognition/detection/detection.launch.xml b/perception_launch/launch/object_recognition/detection/detection.launch.xml
@@ -21,7 +21,7 @@
   <arg name="image_raw7" default=""/>
   <arg name="camera_info7" default=""/>
   <arg name="image_number" default="1" description="choose image raw number(0-7)"/>
-  <arg name="use_vector_map" default="true" description="use vector map in prediction"/>
+  <arg name="use_pointcloud_map" default="true" description="use pointcloud map in detection"/>
 
   <!-- camera lidar fusion based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
@@ -43,15 +43,15 @@
       <arg name="image_raw7" value="$(var image_raw7)"/>
       <arg name="camera_info7" value="$(var camera_info7)"/>
       <arg name="image_number" value="$(var image_number)"/>
-      <arg name="use_vector_map" value="$(var use_vector_map)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
   <!-- lidar based detection-->
   <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
     <include file="$(find-pkg-share perception_launch)/launch/object_recognition/detection/lidar_based_detection.launch.xml">
-      <arg name="use_vector_map" value="$(var use_vector_map)"/>
       <arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
+      <arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
     </include>
   </group>
   <!-- camera based detection-->