feat: add sensing launch (#165)

* release v0.4.0

* Feature/phased timestamped velodyne (#53)

* Replace with new velodyne driver, cutting scan based on azimuth

* Fix launch/dependences

* Fix version name for tier4/velodyne_vls

* Add velodyne_driver dependency

* Nodelet tlr (#56)

* temporary commit tlr_nodelet

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* compressed to compressed

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* Update traffic_light.launch

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* change image_transport to relay

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* decompress as rgb8

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* fix bug

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>

* use env for livox id (#58)

Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

* Feature/optimize scan phase (#59)

* Rename parameter name, sensor_phase -> scan_phase

Signed-off-by: Akihito Ohasto <aohsato@gmail.com>

* Modify aip_xx1 scan_phase for better perception

* Rename parameter name, sensor_phase -> scan_phase

Signed-off-by: Akihito Ohasto <aohsato@gmail.com>

* Logging simulator (#65)

* Add logging_simulator.launch

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* Don't load env when launch driver is false

Signed-off-by: Daisuke Nishimatsu <border_goldenmarket@yahoo.co.jp>

* removed ROS1 package

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "removed ROS1 package"

This reverts commit 225276afe774a2c9d7bc28ca59accffbdc14dc8a.

* add COLCON_IGNORE file to all ROS1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* rename *.launch files to *.launch.xml

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Port sensing_launch (#14)

* [sensing_launch] Initial port without actually launching

* [sensing_launch] default -> value, namespace, first nodelet porting

* [sensing_launch] use usb_cam, eval -> var

* [sensing_launch] Fix syntax errors in pointcloud_preprocessor.launch.py

* [pointcloud-preprocessor] fix ground-filter component name

* [pointcloud-preprocessor] Polish aip_s1/pointcloud_preprocessor.launch.py

Only one error at runtime remains when testing on dev laptop due to pointclouds that need to be available for concatenation

* [sensing_launch] ublox_gps refer to config file properly

* (wip) velodyne_node_container before opaque

* [sensing_launch] Port aip-s1 as far as possible

* [sensing_launch] remove unused pointcloud_preprocessor_nodes.py

* [sensing_launch] Manage to add ComposableNode conditionally

* [sensing_launch] Update camera for s1, x1

* [sensing_launch] Copy aip_s1/ content to aip_customized, aip_x1, aip_x2

because they were identical before the porting

* [sensing_launch] Port livox

* [sensing_launch] Port aip_xx1

* [sensing_launch] Port aip_xx2

* [sensing_launch] Remove superfluous passthrough filter, min_z, max_z

* [sensing_launch] Incorporate changes from vehicle testing

* [sensing_launch] Declare launch argument for base_frame

* [sensing_launch] Missing fixes to launch/velodyne*

* [sensing_launch] Update copied configs

* Added linters (#32)

* Ros2 v0.8.0 sensing launch (#57)

* restore file name

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Update livox_horizon.launch (#89)

* fix pass through filter launch (#90)

* fix pass through filter launch

* change if statement style

* update aip_x1 sensing launch (#100)

* fix livox launch arg (#108)

* add usb_cam depend (#118)

* update aip_x1 camera.launch (#119)

* update imu.launch (#120)

* fix veodyne setting in aip_x1/lidar.launch (#125)

* Add velodyne_monitor to velodyne_*.launch (#101)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Uupdate aip_x1 lidar.launch (#143)

* Format gnss.launch (#145)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add use_gnss arg to aip_x1 gnss.launch (#146)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* support individual params (#137)

* support individual params

* remove kvaser_hardware_id.txt

* Launch velodyne_monitor only when launch_driver is true (#163)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* [sensing_launch] ros2 porting: use container for livox point preprocessor

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* [sensing_launch] ros2-porting: fix vehicle_info params

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Revert "restore file name"

This reverts commit 37d7ac4f6a2a617b003b4e2a5ac96c48b332ade0.

* [sensing_launch] ros2-porting: fix vehicle_info for livox preprocessor launch

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* [sensing_launch] ros2-porting: fix vehicle_info for api_** points_preprocessor.launch.py

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix launch

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* fix livox launch

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* added suffix ".xml" to "velodyne_monitor.launch" in the launch files

* added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in  the *.launch.py (#61)

* added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters

* changed to use EnvironmentVariable function for use_sim_time parameter

* changed indent

* removed an empty line

Co-authored-by: hosokawa <hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>

* fixed typo on the arg bd_code_param_path lines (#63)

Co-authored-by: hosokawa <hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>

* [sensing_launch]: Fix indentation in gnss launch

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [sensing_launch]: Add missing dependency in package.xml

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [sensing_launch]: Fix velodyne launch

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [sensing_launch]: Fix livox launch

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [sensing_launch]: Add arg for vehicle parameter file in lidar launch

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [sensing_launch]: Cleanup

Signed-off-by: Autoware <autoware@tier4.jp>

* Add new line

Signed-off-by: Autoware <autoware@tier4.jp>

* [sensing_launch]: Add default config for xx1

Signed-off-by: Autoware <autoware@tier4.jp>

* [sensing_launch]: Fix indentation

Signed-off-by: Autoware <autoware@tier4.jp>

Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com>
Co-authored-by: hosokawa <hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>
Co-authored-by: HOSOKAWA Ikuto <hosokawa.ikuto@gmail.com>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Autoware <autoware@tier4.jp>

* Rename ROS-related .yaml to .param.yaml (#65)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add missing '--'

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix livox param name

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Sync with Ros2 v0.8.0 beta (#71)

* update sensing launch to support aip_x1 (#69)

Signed-off-by: taichiH <azumade.30@gmail.com>

* fix logging_simulator_bug (#68)

Signed-off-by: taichiH <azumade.30@gmail.com>

* fix aip_x1 param (#70)

Signed-off-by: taichiH <azumade.30@gmail.com>

Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>

* Fix aip_xx1's pointcloud_preprocessor.launch.py (#72)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix velodyne launch (#73)

* fix velodyne launch

* fix bug

* add scan_phase arg

* fix bug (#85)

* Use sensor data qos for pointcloud (#82)

Signed-off-by: Autoware <autoware@tier4.jp>

Co-authored-by: Autoware <autoware@tier4.jp>

* Remove unused remappings (#88)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Livox composable node (#87)

* Fix default value of use_concat_filter and use_radius_search (#90)

* Fix default value of use_concat_filter and use_radius_search

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix lint

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* [aip_x1]: Fix imu topic name (#94)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix various typos in launch files (#97)

* Move individual params to a separate package (#100)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* add use_sim-time option (#99)

* Format launch files (#178)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix bug of pointcloud_preprocessor.py (#179)

Signed-off-by: autoware <autoware@example.com>

Co-authored-by: autoware <autoware@example.com>

* Replace doc by description (#182)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ros2 lsim test (#186)

* Add group to launch file for var scope

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Remove pointcloud relay for localization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add use_sim_time

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Remove pointcloud relay for localization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Add multithread and intra process option (#187)

* Add multithread and intra process option

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix velodyne node container executable

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add option into aip_xx2

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add option into aip_x2

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add option into aip_x1

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add option into aip_s1

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add option into aip_customized

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add option into lidar.launch.xml

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix invalid attribute in gnss launch (#191)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix parameter for scan phase (#193)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.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>

* 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>

* Fix aip_xx1 camera launch (#242)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix gnss topic name (#243)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Enable intra process and mt (#204)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* add imu_corrector (#296)

* add description for sensing_launch (#336)

* add description

* fix sentence

* add README.md and svg files (#328)

* add md and svg

* fix typo

* fix typo

* fix word

* fix typo

* add lack of things

* Update README

* fix depending packages

* fix word

* Fix camera launch invalid type string (#344)

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* add view width direction to velodyne_node_container.launch.py etc... (#366)

* add arg of view_width and view_direction

* delete initial value

* add args and params

Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>

* Fix pre-commit (#407)

* Fix pre-commit errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix package.xml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix pre-commit target (#436)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove aip xx2 model from sensing launch (#446)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add respawn for ublox (#449)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* delete aip and modify package settings (#434)

* Change formatter to black (#488)

* Update pre-commit settings

* Apply Black

* Replace ament_lint_common with autoware_lint_common

* Update build_depends.repos

* Fix build_depends

* feature/use common pointcloud container (#147)

* add container argument

* load composable node to pointcloud_container

* fix autoware_launch

* enable multi-thread

* improve readability

* Update package.xml (#150)

* feat: add default param

* feat: add aip_launcher depends

* fix: add vehicle_info_util as exec_depend

* fix: add velodyne_vls to build_depend.repos

* fix: remove api_launcher at build_depends

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Akihito Ohsato <aohsato@gmail.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com>
Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com>
Co-authored-by: Esteve Fernandez <esteve@apache.org>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com>
Co-authored-by: hosokawa <hosokawa@sng-3f-ros2-eval.l.sng.tier4.jp>
Co-authored-by: HOSOKAWA Ikuto <hosokawa.ikuto@gmail.com>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Autoware <autoware@tier4.jp>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: autoware <autoware@example.com>
Co-authored-by: Takagi, Isamu <isamu.takagi@tier4.jp>
Co-authored-by: hiro-ya-iv <30652835+hiro-ya-iv@users.noreply.github.com>
Co-authored-by: YamatoAndo <yamato.ando@gmail.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>
Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>

build_depends.repos

@@ -1,4 +1,8 @@
 repositories:
+  launch/aip_launcher:
+    type: git
+    url: https://github.com/tier4/AutowareArchitectureProposal_aip_launcher.git
+    version: use-autoware-auto-msgs
   common/autoware_lint_common:
     type: git
     url: https://github.com/tier4/tier4_ament_lint
@@ -51,3 +55,15 @@ repositories:
     type: git
     url: https://github.com/astuff/pacmod3_msgs
     version: main
+  vendor/tamagawa_imu_driver:
+    type: git
+    url: https://github.com/tier4/tamagawa_imu_driver.git
+    version: ros2
+  vendor/livox-driver:
+    type: git
+    url: https://github.com/tier4/livox_ros2_driver.git
+    version: tier4/master
+  vendor/velodyne_vls:
+    type: git
+    url: https://github.com/tier4/velodyne_vls.git
+    version: use-autoware-auto-msgs

launch/sensing_launch/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.5)
+project(sensing_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

launch/sensing_launch/README.md

@@ -0,0 +1,49 @@
+# sensing_launch
+
+## Structure
+
+![sensing_launch](./sensing_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+You can include as follows in `*.launch.xml` to use `sensing.launch.xml`.
+
+```xml
+  <include file="$(find-pkg-share sensing_launch)/launch/sensing.launch.xml">
+    <arg name="launch_driver" value="true"/>
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="vehicle_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/vehicle_info.param.yaml"/>
+    <arg name="vehicle_mirror_param_file" value="$(find-pkg-share $(var vehicle_model)_description)/config/mirror.param.yaml"/>
+  </include>
+```
+
+## Launch Directory Structure
+
+This package finds sensor settings of specified sensor model in `launch`.
+
+```bash
+launch/
+├── aip_x1 # Sensor model name
+│   ├── camera.launch.xml # Camera
+│   ├── gnss.launch.xml # GNSS
+│   ├── imu.launch.xml # IMU
+│   ├── lidar.launch.xml # LiDAR
+│   └── pointcloud_preprocessor.launch.py # for preprocessing pointcloud
+...
+```
+
+## Notes
+
+This package finds settings with variables.
+
+ex.)
+
+<https://github.com/tier4/autoware_launcher/blob/d880474/sensing_launch/launch/sensing.launch.xml#L12>
+
+```xml
+<include file="$(find-pkg-share sensing_launch)/launch/$(var sensor_model)/lidar.launch.xml">
+```

launch/sensing_launch/launch/sensing.launch.xml

@@ -0,0 +1,26 @@
+<launch>
+
+  <arg name="launch_driver" default="true" description="do launch driver"/>
+  <arg name="sensor_model" default="aip_xx1" description="sensor model name"/>
+  <arg name="vehicle_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_info.param.yaml" description="path to the file of vehicle info yaml"/>
+  <arg name="vehicle_mirror_param_file" default="$(find-pkg-share vehicle_info_util)/config/vehicle_mirror.param.yaml" description="path to the file of vehicle mirror position yaml"/>
+  <arg name="use_pointcloud_container" default="false" description="launch pointcloud container"/>
+  <arg name="pointcloud_container_name" default="pointcloud_container"/>
+
+  <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
+
+  <group>
+    <push-ros-namespace namespace="sensing"/>
+
+    <!-- Driver -->
+    <include file="$(var sensor_launch_pkg)/launch/sensing.launch.xml">
+      <arg name="launch_driver" value="$(var launch_driver)" />
+      <arg name="vehicle_param_file" value="$(var vehicle_param_file)" />
+      <arg name="vehicle_mirror_param_file" value="$(var vehicle_mirror_param_file)" />
+      <arg name="use_pointcloud_container" value="$(var use_pointcloud_container)" />
+      <arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
+    </include>
+
+  </group>
+
+</launch>

launch/sensing_launch/package.xml

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sensing_launch</name>
+  <version>0.1.0</version>
+  <description>The sensing_launch package</description>
+
+  <maintainer email="yukihiro.saito@tier4.jp">Yukihiro Saito</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <exec_depend>aip_x1_launch</exec_depend>
+  <exec_depend>aip_x2_launch</exec_depend>
+  <exec_depend>aip_xx1_launch</exec_depend>
+  <exec_depend>common_sensor_launch</exec_depend>
+  <exec_depend>vehicle_info_util</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>