Merge branch 'feat-apply-autoware-prefix-for-evaluator-perception-onl…

…ine-evaluator' of github.com:sasakisasaki/autoware.universe into feat-apply-autoware-prefix-for-evaluator-perception-online-evaluator Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp>
autowarefoundation · Jan 22, 2025 · d426e12 · d426e12
2 parents 7cf7c71 + 1f79fc8
commit d426e12
Show file tree

Hide file tree

Showing 135 changed files with 1,191 additions and 562 deletions.
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
@@ -217,7 +217,7 @@ system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp ryohsu
 system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
 system/diagnostic_graph_utils/** isamu.takagi@tier4.jp
-system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
+system/autoware_dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
 system/duplicated_node_checker/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
 system/hazard_status_converter/** isamu.takagi@tier4.jp

diff --git a/codecov.yaml b/codecov.yaml
@@ -194,7 +194,7 @@ component_management:
         - planning/autoware_external_velocity_limit_selector/**
         - planning/autoware_freespace_planner/**
         - planning/autoware_freespace_planning_algorithms/**
-        - planning/autoware_mission_planner/**
+        - planning/autoware_mission_planner_universe/**
         # - planning/autoware_objects_of_interest_marker_interface/**
         - planning/autoware_obstacle_cruise_planner/**
         # - planning/autoware_obstacle_stop_planner/**
@@ -243,7 +243,7 @@ component_management:
         - planning/motion_velocity_planner/autoware_motion_velocity_dynamic_obstacle_stop_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/**
         - planning/motion_velocity_planner/autoware_motion_velocity_out_of_lane_module/**
-        - planning/motion_velocity_planner/autoware_motion_velocity_planner_common/**
-        - planning/motion_velocity_planner/autoware_motion_velocity_planner_node/**
+        - planning/motion_velocity_planner/autoware_motion_velocity_planner_common_universe/**
+        - planning/motion_velocity_planner/autoware_motion_velocity_planner_node_universe/**
         #### sampling_based_planner
         - planning/sampling_based_planner/autoware_bezier_sampler/**
diff --git a/common/autoware_goal_distance_calculator/Readme.md b/common/autoware_goal_distance_calculator/Readme.md
@@ -17,12 +17,12 @@ This node publishes deviation of self-pose from goal pose.
 
 ### Output
 
-| Name                     | Type                                    | Description                                                   |
-| ------------------------ | --------------------------------------- | ------------------------------------------------------------- |
-| `deviation/lateral`      | `tier4_debug_msgs::msg::Float64Stamped` | publish lateral deviation of self-pose from goal pose[m]      |
-| `deviation/longitudinal` | `tier4_debug_msgs::msg::Float64Stamped` | publish longitudinal deviation of self-pose from goal pose[m] |
-| `deviation/yaw`          | `tier4_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[rad]        |
-| `deviation/yaw_deg`      | `tier4_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[deg]        |
+| Name                     | Type                                                | Description                                                   |
+| ------------------------ | --------------------------------------------------- | ------------------------------------------------------------- |
+| `deviation/lateral`      | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish lateral deviation of self-pose from goal pose[m]      |
+| `deviation/longitudinal` | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish longitudinal deviation of self-pose from goal pose[m] |
+| `deviation/yaw`          | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[rad]        |
+| `deviation/yaw_deg`      | `autoware_internal_debug_msgs::msg::Float64Stamped` | publish yaw deviation of self-pose from goal pose[deg]        |
 
 ## Parameters
 

diff --git a/...ce_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp b/...ce_calculator/include/autoware/goal_distance_calculator/goal_distance_calculator_node.hpp
@@ -22,9 +22,9 @@
 #include <autoware/universe_utils/ros/self_pose_listener.hpp>
 #include <rclcpp/rclcpp.hpp>
 
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 #include <autoware_planning_msgs/msg/lanelet_route.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
 
 #include <tf2_ros/transform_listener.h>
 

diff --git a/common/autoware_goal_distance_calculator/package.xml b/common/autoware_goal_distance_calculator/package.xml
@@ -10,12 +10,12 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>geometry_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
-  <depend>tier4_debug_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp b/common/autoware_goal_distance_calculator/src/goal_distance_calculator_node.cpp
@@ -18,7 +18,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp/timer.hpp>
 
-#include <tier4_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
 
 #include <chrono>
 #include <functional>
@@ -100,12 +100,13 @@ void GoalDistanceCalculatorNode::onTimer()
     using autoware::universe_utils::rad2deg;
     const auto & deviation = output.goal_deviation;
 
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/lateral", deviation.lateral);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/longitudinal", deviation.longitudinal);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>("deviation/yaw", deviation.yaw);
-    debug_publisher_.publish<tier4_debug_msgs::msg::Float64Stamped>(
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
+      "deviation/yaw", deviation.yaw);
+    debug_publisher_.publish<autoware_internal_debug_msgs::msg::Float64Stamped>(
       "deviation/yaw_deg", rad2deg(deviation.yaw));
     RCLCPP_INFO_THROTTLE(
       this->get_logger(), *this->get_clock(), 1000,

diff --git a/...e_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp b/...e_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp
@@ -42,11 +42,11 @@
 #include <autoware/motion_utils/trajectory/trajectory.hpp>
 
 #include "autoware_control_msgs/msg/lateral.hpp"
+#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/odometry.hpp"
-#include "tier4_debug_msgs/msg/float32_multi_array_stamped.hpp"
 
 #include <boost/optional.hpp>  // To be replaced by std::optional in C++17
 
@@ -115,7 +115,8 @@ class PurePursuitLateralController : public LateralControllerBase
 
   // Debug Publisher
   rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr pub_debug_marker_;
-  rclcpp::Publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr pub_debug_values_;
+  rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>::SharedPtr
+    pub_debug_values_;
   // Predicted Trajectory publish
   rclcpp::Publisher<autoware_planning_msgs::msg::Trajectory>::SharedPtr pub_predicted_trajectory_;
 

diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml
@@ -15,6 +15,7 @@
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
   <depend>autoware_control_msgs</depend>
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_trajectory_follower_base</depend>
@@ -32,7 +33,6 @@
   <depend>tf2_eigen</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
-  <depend>tier4_debug_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/...oware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/...oware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp
@@ -92,8 +92,9 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node)
   // Debug Publishers
   pub_debug_marker_ =
     node.create_publisher<visualization_msgs::msg::MarkerArray>("~/debug/markers", 0);
-  pub_debug_values_ = node.create_publisher<tier4_debug_msgs::msg::Float32MultiArrayStamped>(
-    "~/debug/ld_outputs", rclcpp::QoS{1});
+  pub_debug_values_ =
+    node.create_publisher<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>(
+      "~/debug/ld_outputs", rclcpp::QoS{1});
 
   // Publish predicted trajectory
   pub_predicted_trajectory_ = node.create_publisher<autoware_planning_msgs::msg::Trajectory>(
@@ -118,7 +119,7 @@ double PurePursuitLateralController::calcLookaheadDistance(
     std::clamp(vel_ld + curvature_ld + lateral_error_ld, min_ld, param_.max_lookahead_distance);
 
   auto pubDebugValues = [&]() {
-    tier4_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
+    autoware_internal_debug_msgs::msg::Float32MultiArrayStamped debug_msg{};
     debug_msg.data.resize(TYPE::SIZE);
     debug_msg.data.at(TYPE::VEL_LD) = static_cast<float>(vel_ld);
     debug_msg.data.at(TYPE::CURVATURE_LD) = static_cast<float>(curvature_ld);

diff --git a/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml b/...tion_launch/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml
@@ -56,20 +56,33 @@
   <let name="euclidean_cluster/input/pointcloud" value="$(var segmentation_based_filtered/output/pointcloud)" if="$(var use_image_segmentation_based_filter)"/>
   <let name="euclidean_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)" unless="$(var use_image_segmentation_based_filter)"/>
   <let name="clustering/clusters" value="$(var ns)/clustering/clusters"/>
-  <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/>
-  <let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)" unless="$(var use_roi_based_cluster)"/>
-  <let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
-  <let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
-  <let name="roi_merged_cluster/output/clusters" value="$(var clustering/clusters)"/>
+  <!-- <let name="euclidean_cluster/output/clusters" value="$(var ns)/clustering/euclidean_cluster/clusters" if="$(var use_roi_based_cluster)"/> -->
+  <let name="euclidean_cluster/output/clusters" value="$(var clustering/clusters)"/>
   <let name="shape_estimation1/input/clusters" value="$(var clustering/clusters)"/>
   <let name="shape_estimation1/output/objects" value="$(var output/clustering/cluster_objects)"/>
 
-  <let name="roi_cluster_fusion/input/clusters" value="$(var ns)/clustering/clusters"/>
+  <let name="roi_cluster_fusion/input/clusters" value="$(var euclidean_cluster/output/clusters)"/>
   <let name="roi_cluster_fusion/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/clusters"/>
   <let name="low_intensity_cluster_filter/input/clusters" value="$(var roi_cluster_fusion/output/clusters)"/>
   <let name="low_intensity_cluster_filter/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/filtered/clusters"/>
-  <let name="shape_estimation2/input/clusters" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
-  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
+
+  <let name="roi_cluster/input/pointcloud" value="$(var input/pointcloud_map/pointcloud)"/>
+  <let name="roi_cluster/output/clusters" value="$(var ns)/clustering/roi_cluster/clusters"/>
+  <let name="roi_cluster_merger/input/clusters0" value="$(var low_intensity_cluster_filter/output/clusters)" if="$(var use_low_intensity_cluster_filter)"/>
+  <let name="roi_cluster_merger/input/clusters0" value="$(var roi_cluster_fusion/output/clusters)" unless="$(var use_low_intensity_cluster_filter)"/>
+  <let name="roi_cluster_merger/output/clusters" value="$(var ns)/clustering/camera_lidar_fusion/merger/clusters"/>
+
+  <let name="shape_estimation2/input/clusters" value="$(var roi_cluster_merger/output/clusters)" if="$(eval &quot;'$(var use_roi_based_cluster)' == 'true'&quot;)"/>
+  <let
+    name="shape_estimation2/input/clusters"
+    value="$(var low_intensity_cluster_filter/output/clusters)"
+    if="$(eval &quot;'$(var use_roi_based_cluster)' == 'false' and '$(var use_low_intensity_cluster_filter)' == 'true'&quot;)"
+  />
+  <let
+    name="shape_estimation2/input/clusters"
+    value="$(var roi_cluster_fusion/output/clusters)"
+    if="$(eval &quot;'$(var use_roi_based_cluster)' == 'false' and '$(var use_low_intensity_cluster_filter)' == 'false'&quot;)"
+  />
   <let name="shape_estimation2/output/objects" value="$(var ns)/clustering/camera_lidar_fusion/objects_with_feature"/>
   <let name="detected_object_feature_remover/input/objects_with_feature" value="$(var shape_estimation2/output/objects)"/>
   <let name="detected_object_feature_remover/output/objects" value="$(var output/rule_detector/objects)"/>
@@ -187,15 +200,6 @@
       </group>
     </group>
 
-    <!-- simple_cluster_merger -->
-    <group>
-      <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
-        <arg name="input/cluster0" value="$(var euclidean_cluster/output/clusters)"/>
-        <arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
-        <arg name="output/clusters" value="$(var roi_merged_cluster/output/clusters)"/>
-      </include>
-    </group>
-
     <!-- shape_estimation 1 -->
     <group>
       <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
@@ -250,6 +254,15 @@
         </include>
       </group>
 
+      <!-- simple_cluster_merger -->
+      <group>
+        <include file="$(find-pkg-share autoware_cluster_merger)/launch/cluster_merger.launch.xml" if="$(var use_roi_based_cluster)">
+          <arg name="input/cluster0" value="$(var roi_cluster_merger/input/clusters0)"/>
+          <arg name="input/cluster1" value="$(var roi_cluster/output/clusters)"/>
+          <arg name="output/clusters" value="$(var roi_cluster_merger/output/clusters)"/>
+        </include>
+      </group>
+
       <group>
         <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
           <arg name="input/objects" value="$(var shape_estimation2/input/clusters)"/>

diff --git a/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml b/launch/tier4_planning_launch/launch/mission_planning/mission_planning.launch.xml
@@ -1,11 +1,11 @@
 <launch>
-  <arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner)/config/mission_planner.param.yaml"/>
+  <arg name="mission_planner_param_path" default="$(find-pkg-share autoware_mission_planner_universe)/config/mission_planner.param.yaml"/>
   <group>
-    <include file="$(find-pkg-share autoware_mission_planner)/launch/mission_planner.launch.xml">
+    <include file="$(find-pkg-share autoware_mission_planner_universe)/launch/mission_planner.launch.xml">
       <arg name="mission_planner_param_path" value="$(var mission_planner_param_path)"/>
     </include>
   </group>
   <group>
-    <include file="$(find-pkg-share autoware_mission_planner)/launch/goal_pose_visualizer.launch.xml"/>
+    <include file="$(find-pkg-share autoware_mission_planner_universe)/launch/goal_pose_visualizer.launch.xml"/>
   </group>
 </launch>
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
@@ -119,7 +119,7 @@
   <!-- plan slowdown or stops on the final trajectory -->
   <group>
     <load_composable_node target="/planning/scenario_planning/lane_driving/motion_planning/motion_planning_container">
-      <composable_node pkg="autoware_motion_velocity_planner_node" plugin="autoware::motion_velocity_planner::MotionVelocityPlannerNode" name="motion_velocity_planner" namespace="">
+      <composable_node pkg="autoware_motion_velocity_planner_node_universe" plugin="autoware::motion_velocity_planner::MotionVelocityPlannerNode" name="motion_velocity_planner" namespace="">
         <!-- topic remap -->
         <remap from="~/input/trajectory" to="path_optimizer/trajectory"/>
         <remap from="~/input/vector_map" to="/map/vector_map"/>

diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml
@@ -64,7 +64,7 @@
   <exec_depend>autoware_external_velocity_limit_selector</exec_depend>
   <exec_depend>autoware_freespace_planner</exec_depend>
   <exec_depend>autoware_glog_component</exec_depend>
-  <exec_depend>autoware_mission_planner</exec_depend>
+  <exec_depend>autoware_mission_planner_universe</exec_depend>
   <exec_depend>autoware_obstacle_cruise_planner</exec_depend>
   <exec_depend>autoware_obstacle_stop_planner</exec_depend>
   <exec_depend>autoware_path_optimizer</exec_depend>

diff --git a/launch/tier4_system_launch/launch/system.launch.xml b/launch/tier4_system_launch/launch/system.launch.xml
@@ -113,7 +113,7 @@
 
   <!-- Dummy Diag Publisher -->
   <group if="$(var launch_dummy_diag_publisher)">
-    <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher.launch.xml">
+    <include file="$(find-pkg-share autoware_dummy_diag_publisher)/launch/dummy_diag_publisher.launch.xml">
       <arg name="config_file" value="$(var dummy_diag_publisher_param_path)"/>
       <arg name="extra_config_file_sensor" value="$(var sensor_launch_pkg)/config/dummy_diag_publisher/sensor_kit.param.yaml"/>
       <arg name="launch_rqt_reconfigure" value="$(var launch_rqt_reconfigure)"/>

diff --git a/perception/autoware_tensorrt_yolox/README.md b/perception/autoware_tensorrt_yolox/README.md
@@ -4,6 +4,8 @@
 
 This package detects target objects e.g., cars, trucks, bicycles, and pedestrians and segment target objects such as cars, trucks, buses and pedestrian, building, vegetation, road, sidewalk on a image based on [YOLOX](https://github.com/Megvii-BaseDetection/YOLOX) model with multi-header structure.
 
+Additionally, the package also supports traffic light detection by switching onnx file which target classes listed on respective `label_file`. Currently 0: `unknown`, 1: `car_traffic_light` and 2: `pedestrian_traffic_light`.
+
 ## Inner-workings / Algorithms
 
 ### Cite
@@ -22,12 +24,12 @@ Zheng Ge, Songtao Liu, Feng Wang, Zeming Li, Jian Sun, "YOLOX: Exceeding YOLO Se
 
 ### Output
 
-| Name             | Type                                               | Description                                                         |
-| ---------------- | -------------------------------------------------- | ------------------------------------------------------------------- |
-| `out/objects`    | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects with 2D bounding boxes                         |
-| `out/image`      | `sensor_msgs/Image`                                | The image with 2D bounding boxes for visualization                  |
-| `out/mask`       | `sensor_msgs/Image`                                | The semantic segmentation mask                                      |
-| `out/color_mask` | `sensor_msgs/Image`                                | The colorized image of semantic segmentation mask for visualization |
+| Name             | Type                                               | Description                                                                                           |
+| ---------------- | -------------------------------------------------- | ----------------------------------------------------------------------------------------------------- |
+| `out/objects`    | `tier4_perception_msgs/DetectedObjectsWithFeature` | The detected objects or traffic light with 2D bounding boxes                                          |
+| `out/image`      | `sensor_msgs/Image`                                | The image with 2D bounding boxes for visualization                                                    |
+| `out/mask`       | `sensor_msgs/Image`                                | The semantic segmentation mask (only effective for semseg model)                                      |
+| `out/color_mask` | `sensor_msgs/Image`                                | The colorized image of semantic segmentation mask for visualization (only effective for semseg model) |
 
 ## Parameters
 
@@ -45,6 +47,14 @@ The label contained in detected 2D bounding boxes (i.e., `out/objects`) will be
 - BICYCLE
 - MOTORCYCLE
 
+or
+
+- UNKNOWN
+- CAR_TRAFFIC_LIGHT
+- PEDESTRIAN_TRAFFIC_LIGHT
+
+for traffic light detector onnx model.
+
 If other labels (case insensitive) are contained in the file specified via the `label_file` parameter,
 those are labeled as `UNKNOWN`, while detected rectangles are drawn in the visualization result (`out/image`).