Merge pull request #184 from tier4/sync-upstream-use-autoware-auto-msgs

sync upstream use autoware auto msgs
tier4 · Nov 29, 2021 · 3f6efcc · 3f6efcc
2 parents 495aa20 + 99528b0
commit 3f6efcc
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Showing 9 changed files with 55 additions and 48 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -437,39 +437,6 @@ Visualization Manager:
               Use Fixed Frame: false
               Use rainbow: true
               Value: true
-            - Alpha: 0.999
-              Autocompute Intensity Bounds: true
-              Autocompute Value Bounds:
-                Max Value: 15
-                Min Value: -2
-                Value: false
-              Axis: Z
-              Channel Name: z
-              Class: rviz_default_plugins/PointCloud2
-              Color: 200; 200; 200
-              Color Transformer: FlatColor
-              Decay Time: 0
-              Enabled: true
-              Invert Rainbow: false
-              Max Color: 255; 255; 255
-              Max Intensity: 15
-              Min Color: 0; 0; 0
-              Min Intensity: -5
-              Name: NoGroundPointCloud
-              Position Transformer: XYZ
-              Selectable: true
-              Size (Pixels): 3
-              Size (m): 0.02
-              Style: Points
-              Topic:
-                Depth: 5
-                Durability Policy: Volatile
-                History Policy: Keep Last
-                Reliability Policy: Best Effort
-                Value: /perception/object_segmentation/pointcloud
-              Use Fixed Frame: true
-              Use rainbow: true
-              Value: true
             - Alpha: 0.999
               Class: rviz_default_plugins/Polygon
               Color: 25; 255; 0
@@ -716,6 +683,43 @@ Visualization Manager:
       Name: Localization
     - Class: rviz_common/Group
       Displays:
+        - Class: rviz_common/Group
+          Displays:
+            - Alpha: 0.999
+              Autocompute Intensity Bounds: true
+              Autocompute Value Bounds:
+                Max Value: 15
+                Min Value: -2
+                Value: false
+              Axis: Z
+              Channel Name: z
+              Class: rviz_default_plugins/PointCloud2
+              Color: 200; 200; 200
+              Color Transformer: FlatColor
+              Decay Time: 0
+              Enabled: true
+              Invert Rainbow: false
+              Max Color: 255; 255; 255
+              Max Intensity: 15
+              Min Color: 0; 0; 0
+              Min Intensity: -5
+              Name: NoGroundPointCloud
+              Position Transformer: XYZ
+              Selectable: true
+              Size (Pixels): 3
+              Size (m): 0.02
+              Style: Points
+              Topic:
+                Depth: 5
+                Durability Policy: Volatile
+                History Policy: Keep Last
+                Reliability Policy: Best Effort
+                Value: /perception/obstacle_segmentation/pointcloud
+              Use Fixed Frame: true
+              Use rainbow: true
+              Value: true
+          Enabled: true
+          Name: Segmentation
         - Class: rviz_common/Group
           Displays:
             - BUS:

diff --git a/...gmentation/ground_segmentation.param.yaml → ...gmentation/ground_segmentation.param.yaml b/...gmentation/ground_segmentation.param.yaml → ...gmentation/ground_segmentation.param.yaml
diff --git a/...egmentation/ground_segmentation.launch.py → ...egmentation/ground_segmentation.launch.py b/...egmentation/ground_segmentation.launch.py → ...egmentation/ground_segmentation.launch.py
@@ -212,7 +212,7 @@ def create_elevation_map_filter_pipeline():
         name="voxel_grid_outlier_filter",
         remappings=[
             ("input", "voxel_grid_filtered/pointcloud"),
-            ("output", "/perception/object_segmentation/pointcloud"),
+            ("output", "/perception/obstacle_segmentation/pointcloud"),
         ],
         parameters=[
             {
@@ -238,7 +238,7 @@ def launch_setup(context, *args, **kwargs):
 
     ground_segmentation_param_path = os.path.join(
         get_package_share_directory("perception_launch"),
-        "config/object_segmentation/ground_segmentation/ground_segmentation.param.yaml",
+        "config/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml",
     )
     with open(ground_segmentation_param_path, "r") as f:
         ground_segmentation_param = yaml.safe_load(f)["/**"]["ros__parameters"]
@@ -310,12 +310,12 @@ def launch_setup(context, *args, **kwargs):
             ]
         ),
         launch_arguments={
-            "container": "/perception/object_segmentation/ground_segmentation/perception_pipeline_container",
+            "container": "/perception/obstacle_segmentation/ground_segmentation/perception_pipeline_container",
             "input/obstacle_pointcloud": "no_ground/oneshot/pointcloud"
             if bool(ground_segmentation_param["additional_lidars"])
             else "no_ground/pointcloud",
             "input/raw_pointcloud": "/sensing/lidar/concatenated/pointcloud",
-            "output": "occupancy_grid",
+            "output": "/perception/occupancy_grid_map/map",
             "use_intra_process": LaunchConfiguration("use_intra_process"),
         }.items(),
         condition=UnlessCondition(
@@ -331,14 +331,14 @@ def launch_setup(context, *args, **kwargs):
         plugin="pointcloud_preprocessor::OccupancyGridMapOutlierFilterComponent",
         name="occupancy_grid_map_outlier_filter",
         remappings=[
-            ("~/input/occupancy_grid_map", "occupancy_grid"),
+            ("~/input/occupancy_grid_map", "/perception/occupancy_grid_map/map"),
             (
                 "~/input/pointcloud",
                 "no_ground/oneshot/pointcloud"
                 if bool(ground_segmentation_param["additional_lidars"])
                 else "no_ground/pointcloud",
             ),
-            ("~/output/pointcloud", "/perception/object_segmentation/pointcloud"),
+            ("~/output/pointcloud", "/perception/obstacle_segmentation/pointcloud"),
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
     )

diff --git a/perception_launch/launch/perception.launch.xml b/perception_launch/launch/perception.launch.xml
@@ -30,11 +30,11 @@
 
     <!-- object segmentation module -->
     <group>
-      <push-ros-namespace namespace="object_segmentation"/>
+      <push-ros-namespace namespace="obstacle_segmentation"/>
       <!-- ground segmentation module -->
       <group>
         <push-ros-namespace namespace="ground_segmentation"/>
-        <include file="$(find-pkg-share perception_launch)/launch/object_segmentation/ground_segmentation/ground_segmentation.launch.py">
+        <include file="$(find-pkg-share perception_launch)/launch/obstacle_segmentation/ground_segmentation/ground_segmentation.launch.py">
           <arg name="base_frame" value="base_link" />
           <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
           <arg name="use_intra_process" value="true" />

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -268,7 +268,7 @@ def generate_launch_description():
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
             (
                 "~/input/no_ground_pointcloud",
-                "/perception/object_segmentation/pointcloud",
+                "/perception/obstacle_segmentation/pointcloud",
             ),
             (
                 "~/input/traffic_signals",
@@ -279,7 +279,10 @@ def generate_launch_description():
                 "/external/traffic_light_recognition/traffic_signals",
             ),
             ("~/input/virtual_traffic_light_states", "/awapi/tmp/virtual_traffic_light_states"),
-            ("~/input/occupancy_grid", "/sensing/lidar/occupancy_grid"),
+            (
+                "~/input/occupancy_grid",
+                "/perception/occupancy_grid_map/map",
+            ),
             ("~/output/path", "path"),
             ("~/output/stop_reasons", "/planning/scenario_planning/status/stop_reasons"),
             (

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -93,7 +93,7 @@ def generate_launch_description():
             ("~/output/trajectory", "surround_obstacle_checker/trajectory"),
             (
                 "~/input/pointcloud",
-                "/perception/object_segmentation/pointcloud",
+                "/perception/obstacle_segmentation/pointcloud",
             ),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),
@@ -160,7 +160,7 @@ def generate_launch_description():
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
             (
                 "~/input/pointcloud",
-                "/perception/object_segmentation/pointcloud",
+                "/perception/obstacle_segmentation/pointcloud",
             ),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/input/odometry", "/localization/kinematic_state"),

diff --git a/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml b/...g_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.xml
@@ -44,7 +44,7 @@
       <arg name="enable_slow_down" value="false" />
       <!-- remap topic name -->
       <arg name="input_trajectory" value="surround_obstacle_checker/trajectory" />
-      <arg name="input_pointcloud" value="/perception/object_segmentation/pointcloud" />
+      <arg name="input_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
       <arg name="output_trajectory" value="/planning/scenario_planning/lane_driving/trajectory" />
     </include>
   </group>

diff --git a/planning_launch/launch/scenario_planning/parking.launch.py b/planning_launch/launch/scenario_planning/parking.launch.py
@@ -54,7 +54,7 @@ def generate_launch_description():
                     ("~/input/objects", "/perception/object_recognition/objects"),
                     (
                         "~/input/points_no_ground",
-                        "/perception/object_segmentation/pointcloud",
+                        "/perception/obstacle_segmentation/pointcloud",
                     ),
                     ("~/input/vector_map", "/map/vector_map"),
                     ("~/input/scenario", "/planning/scenario_planning/scenario"),

diff --git a/planning_launch/launch/scenario_planning/parking.launch.xml b/planning_launch/launch/scenario_planning/parking.launch.xml
@@ -4,7 +4,7 @@
     <push-ros-namespace namespace="parking"/>
     <include file="$(find-pkg-share costmap_generator)/launch/costmap_generator.launch.xml">
       <arg name="input_objects" value="/perception/object_recognition/objects"/>
-      <arg name="input_points_no_ground" value="/perception/object_segmentation/pointcloud"/>
+      <arg name="input_points_no_ground" value="/perception/obstacle_segmentation/pointcloud"/>
       <arg name="input_lanelet_map" value="/map/vector_map"/>
       <arg name="input_scenario" value="/planning/scenario_planning/scenario"/>
       <arg name="output_grid_map" value="costmap_generator/grid_map"/>