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feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml #227
feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml #227
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…imulator.launch.xml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
<!-- object recognition --> | ||
<group if="$(var perception/enable_object_recognition)"> | ||
<push-ros-namespace namespace="object_recognition"/> | ||
<!-- detection module --> |
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Could you remove this?
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Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
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<group> | ||
<push-ros-namespace namespace="occupancy_grid_map"/> | ||
<!-- Occupancy Grid --> | ||
<include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py"> |
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@yukkysaito
Should this be as following?
<include file="$(find-pkg-share perception_launch)/launch/occupancy_grid_map/occupancy_grid_map.launch.py">
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I just copied from here, so you can change as you want.
https://github.com/tier4/autoware.universe/blob/920b874ad74283d0ba828b9e5a80250e44d130a6/simulator/dummy_perception_publisher/launch/dummy_perception_publisher.launch.xml#L56-L64
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I couldn't sync this PR with the following PR, since the following one was merged one day before this PR, and I didn't notice the following PR at that time. 🙏
tier4/autoware.universe@fcfcced
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
* Fix incorrect remap (#183) * Fix incorrect remap Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use set_remap Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) (#196) * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) * rm arg(gnss_receiver) escalation and modify septentrio_gnss_driver_node option * change gnss_receiver default septentrio to ublox * remap all septentrio_gnss_driver topic names * replace septentrio gnss driver launch type 'node' to 'include' * Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change system_monitor.launch.xml to launch.py (#203) * Add control composed launch (#201) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * add param for psim v2 (#197) * add param for psim v2 Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp> * Update to pass var 'scenario_simulation' to dummy_perception_publisher * Update dummy_perception_publisher's arg-name Co-authored-by: yamacir-kit <httperror@404-notfound.jp> * Feature/porting v0.9.1 master (#202) * add simulation arg (#174) * add simulation arg * add comment * change arg name * add parameter use_empty_dynamic_object_publisher into perception.launch (#176) Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp> Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> * Fix mistakes in control.launch.py (#209) * Fix typo in control.launch.py Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add remote_cmd_converter_component Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Feature/add external cmd selector (#206) * Add remote_cmd_selector to control.launch (#172) * Add remote_cmd_selector to control.launch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename remote_cmd_selector to external_cmd_selector Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change default external cmd source (#173) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * modify to use control.launch.xml * add external_cmd_selector to control.launch.py * Fix remapping in control.launch.py Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix remapping in control.launch.py again Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> * Add vehicle info launch for setting vehicle info param (#199) * Add vehicle info launch for setting vehicle info param Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add comment for global parameters section Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix year and apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ready vehicle info param Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove vehicle info param server from logging simulator (#211) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add container launch for planning (#205) * Add container launch for planning Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix porting miss * fix lane_driving.launch.xml * Add missing parameters Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: taichiH <azumade.30@gmail.com> * Add map.launch.py (#212) * Add map.launch.py Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update map.launch.xml Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Rename parameter for lanelet2 map path Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Rename AstarNavi to FreespacePlannerNode (#213) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add spell check action (#214) * Unify YAML file extension of GitHub action to yml (#216) * Fix PR template (#218) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix PR template link (#219) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix minor typos in PULL_REQUEST_TEMPLATE.md (#222) * Fix depends in localization_launch to exec_depend (#223) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add build CI (#224) * Add build CI Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build_depend.repos Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add private repository settings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove self repo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Install pip Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use packages-select and packages-up-to Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change job name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add build_and_test.yml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Install kvaser library Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Build only internal packages in CI (#227) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typos in launch files (#231) * Fix typos in launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp> * Format launch files (#228) * Format launch files Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Format launch.py Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Exclude dummy_perception_publisher.launch.xml if is scenario_simulation (#230) * Fix unresolved conflicts Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: hiro-ya-iv <30652835+hiro-ya-iv@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: yamacir-kit <httperror@404-notfound.jp> Co-authored-by: Keisuke Shima <keisuke.shima@tier4.jp> Co-authored-by: Yusuke FUJII <yusuke.fujii@tier4.jp> Co-authored-by: s-azumi <38061530+s-azumi@users.noreply.github.com> Co-authored-by: taichiH <azumade.30@gmail.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
* chore: fix CI settings (#182) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * chore: sync files (#180) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (#184) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat: add paricle param (#181) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * chore: sync files (#185) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * Update sync-files.yaml Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore: sync files (#186) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync system config (#187) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: sync files (#189) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: wep21 <wep21@users.noreply.github.com> * chore: replace system config in system launch (#188) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * feat: adds additional configuration flags for behavior_path_planner (#171) * feat: adds additional configuration flags for behavior_path_planner The additional configuration is used to allows avoidance over lane with same and different direction, as well as allows safety margin between linestring and ego. This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496 port. Related PR: autowarefoundation/autoware.universe#285 autowarefoundation/autoware.universe#287 Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * Change lateral_collision_margion to 1.0 to reflect changes. The decision to change the parameter value to 1.0 is made after performing drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting between planning control team on 3rd of February 2022. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * fix: slightly increase the safety buffer. This increases the shift length to 1.7 + 0.5 * vehicle width. The decision to increase is based on the discussion between planning team and also the advice from the FI team. Signed-off-by: Muhammad Zulfaqar Azmi <zulfaqar.azmi@tier4.jp> * feat(behavior_velocity): add path marker visualization (#190) Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore: sync files (#193) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (#194) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * chore: update workflow files name Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> * chore: sync files (#195) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> * feat: lateral controller param (#191) * feat: define lat_controller_param_path * feat: change for trajectory_follower params * add args for lat_controller_param_path * chore: fix wrong essential param to optional (#197) * fix wrong param line * move pointcloud_container_name param to optional * fix: typo extra `>` (#199) * Chore arrange perception rviz topics (#196) * feat(autoware_launch): add occupancy grid vizualization Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(autoware_launch): add object recognition namespace to rviz Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * fix: delete unused in control_launch (#200) * fix: delete unused in control.launch.py * fix: delete velocity_controller.param.yaml * feat: add system_monitor parameters in sync-files (#201) * chore: update settings of sync-files (#204) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat(control_launch): remove unnecessary params (#206) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * chore: sync files (#208) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat(atutoware.rviz): disable selectable for pointcloud visualization (#207) Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * chore: sync files (#212) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * feat(behavior path planner): update params of behavior path for dynamic drivable area (#209) * feat: load global param (#216) * feat: load global param Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * chore: add comment about rosdistro migration Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * fix: add feature_remover after apollo segmentation (#217) Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * chore: sync files (#222) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * Update sync-param-files.yaml Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * chore(perception_launch): update laserscan angle increment to pandar 64 level resolution (#220) Signed-off-by: taikitanaka <ttatcoder@outlook.jp> * feat: add enable option for image decompressor (#224) * feat: add enable option for image decompressor Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * ci: fix flake8 Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * feat(behavior_velocity): add merge from private marker (#223) * feat(behavior_velocity): add merge from private marker Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * feat(behavior_velocity): add factor text Signed-off-by: tanaka3 <ttatcoder@outlook.jp> * chore: expose traffic light model path arg (#225) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml (#227) * feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove unnecessary comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * feat(ndt_scan_matcher): add the tolerance of initial pose (#211) * feat(ndt_scan_matcher): add the tolerance of initial pose Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * change param name Signed-off-by: YamatoAndo <yamato.ando@gmail.com> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: sync files (#229) Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> * chore: sync files (#230) * chore: sync files Signed-off-by: GitHub <noreply@github.com> * remove tier4/proposal Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * change cron schedules Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * sync sync-files.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * feat: add launch description for cpu usage adaptor (#210) Signed-off-by: TakumiKozaka-T4 <takumi.kozaka@tier4.jp> * fix: delete aip dependents (#235) * fix: delete aip dependents * Update package.xml Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * fix: disable awapi_vehicle_get_door_topic_state_monitor (#271) Signed-off-by: Yuma Nihei <yuma.nihei@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com> Co-authored-by: Yamato Ando <yamato.ando@gmail.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: wep21 <wep21@users.noreply.github.com> Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: h-ohta <h-ohta@users.noreply.github.com> Co-authored-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Tomoya Kimura <tomoya.kimura@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: TakumiKozaka-T4 <70260442+TakumiKozaka-T4@users.noreply.github.com> Co-authored-by: Yuma Nihei <yuma.nihei@tier4.jp>
Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
…imulator.launch.xml (#227) * feat(autoware_launch, simulator_launch): move perception modules to simulator.launch.xml Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * remove unnecessary comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
PR Type
Related Links
autowarefoundation/autoware.universe#455
Description
scenario sim will publish detection results although currently publish prediction results.
tier4/scenario_simulator_v2#712
We do not call tracking, prediction modules with scenario sim now, so I modified to call these modules with not only simple psim but also scenario sim.
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