diff --git a/localization/ndt_scan_matcher/README.md b/localization/ndt_scan_matcher/README.md index 14d3c9e8cca84..b30cbaca1e87a 100644 --- a/localization/ndt_scan_matcher/README.md +++ b/localization/ndt_scan_matcher/README.md @@ -223,14 +223,14 @@ Note that the dynamic map loading may FAIL if the map is split into two or more Here is a split PCD map for `sample-map-rosbag` from Autoware tutorial: [`sample-map-rosbag_split.zip`](https://github.com/autowarefoundation/autoware.universe/files/10349104/sample-map-rosbag_split.zip) -| PCD files | `use_dynamic_map_loading` | `enable_differential_load` | How NDT loads map(s) | -| :---------: | :-----------------------: | :------------------------: | :------------------: | -| single file | true | true | at once (standard) | -| single file | true | false | **does NOT work** | -| single file | false | true/false | at once (standard) | -| splitted | true | true | dynamically | -| splitted | true | false | **does NOT work** | -| splitted | false | true/false | at once (standard) | +| PCD files | `use_dynamic_map_loading` | `enable_differential_load` | How NDT loads map(s) | +| :------------: | :-----------------------: | :------------------------: | :------------------: | +| single file | true | true | at once (standard) | +| single file | true | false | **does NOT work** | +| single file | false | true/false | at once (standard) | +| multiple files | true | true | dynamically | +| multiple files | true | false | **does NOT work** | +| multiple files | false | true/false | at once (standard) | ## Scan matching score based on de-grounded LiDAR scan diff --git a/localization/pose_initializer/README.md b/localization/pose_initializer/README.md index 81cfe3c4a0665..961f3a8e3293c 100644 --- a/localization/pose_initializer/README.md +++ b/localization/pose_initializer/README.md @@ -15,7 +15,7 @@ This node depends on the map height fitter library. | Name | Type | Description | | --------------------- | ---- | ---------------------------------------------------------------------------------------- | -| `ekf_enabled` | bool | If true, EKF localizar is activated. | +| `ekf_enabled` | bool | If true, EKF localizer is activated. | | `ndt_enabled` | bool | If true, the pose will be estimated by NDT scan matcher, otherwise it is passed through. | | `stop_check_enabled` | bool | If true, initialization is accepted only when the vehicle is stopped. | | `stop_check_duration` | bool | The duration used for the stop check above. | diff --git a/perception/bytetrack/README.md b/perception/bytetrack/README.md index c71b62cada29f..e58f4bb5892aa 100644 --- a/perception/bytetrack/README.md +++ b/perception/bytetrack/README.md @@ -12,6 +12,8 @@ the number of false negatives is expected to decrease by using it. ### Cite + + - Yifu Zhang, Peize Sun, Yi Jiang, Dongdong Yu, Fucheng Weng, Zehuan Yuan, Ping Luo, Wenyu Liu, and Xinggang Wang, "ByteTrack: Multi-Object Tracking by Associating Every Detection Box", in the proc. of the ECCV 2022, [[ref](https://arxiv.org/abs/2110.06864)] diff --git a/perception/image_projection_based_fusion/README.md b/perception/image_projection_based_fusion/README.md index dca8795b7ca05..1bbee35ab44f8 100644 --- a/perception/image_projection_based_fusion/README.md +++ b/perception/image_projection_based_fusion/README.md @@ -40,8 +40,8 @@ if the roi msgs can be matched, fuse them and cache the pointcloud. | :-----------------: | :--------: | :-------: | :-------: | :-------: | | subscription status | O | O | O | | -If the roi msg 3 is subscribed before the next pointcloud messge coming or timeout, fuse it if matched, otherwise wait for the next roi msg 3. -If the roi msg 3 is not subscribed before the next pointcloud messge coming or timeout, postprocess the pointcloud messege as it is. +If the roi msg 3 is subscribed before the next pointcloud message coming or timeout, fuse it if matched, otherwise wait for the next roi msg 3. +If the roi msg 3 is not subscribed before the next pointcloud message coming or timeout, postprocess the pointcloud message as it is. The timeout threshold should be set according to the postprocessing time. E.g, if the postprocessing time is around 50ms, the timeout threshold should be set smaller than 50ms, so that the whole processing time could be less than 100ms. diff --git a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md index 69ef70be265ec..2852feb72ee4f 100644 --- a/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md +++ b/perception/lidar_centerpoint/launch/centerpoint_vs_centerpoint-tiny/README.md @@ -130,7 +130,7 @@ Then you will see two rviz window show immediately. On the left is the result fo ### Bounding Box blink on rviz -To avoid Bounding Boxs blinking on rviz, you can extend bbox marker lifetime. +To avoid Bounding Boxes blinking on rviz, you can extend bbox marker lifetime. Set `marker_ptr->lifetime` and `marker.lifetime` to a longer lifetime. diff --git a/perception/probabilistic_occupancy_grid_map/README.md b/perception/probabilistic_occupancy_grid_map/README.md index 44afe7301d8c7..b9caaac29cb01 100644 --- a/perception/probabilistic_occupancy_grid_map/README.md +++ b/perception/probabilistic_occupancy_grid_map/README.md @@ -18,7 +18,7 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean ![image_for_frame_parameter_visualization](./image/gridmap_frame_settings.drawio.svg) -### Each config paramters +### Each config parameters Config parameters are managed in `config/*.yaml` and here shows its outline. diff --git a/planning/behavior_velocity_planner/out-of-lane-design.md b/planning/behavior_velocity_planner/out-of-lane-design.md index 942a2516c0612..2e732d04027d6 100644 --- a/planning/behavior_velocity_planner/out-of-lane-design.md +++ b/planning/behavior_velocity_planner/out-of-lane-design.md @@ -27,10 +27,10 @@ In this first step, the ego footprint is projected at each path point and are ev #### 2. Other lanes In the second step, the set of lanes to consider for overlaps is generated. -This set is built by selecting all lanelets within some distance from the ego vehicle, and then removing non-relevent lanelets. -The selection distance is choosen as the maximum between the `slowdown.distance_threshold` and the `stop.distance_threshold`. +This set is built by selecting all lanelets within some distance from the ego vehicle, and then removing non-relevant lanelets. +The selection distance is chosen as the maximum between the `slowdown.distance_threshold` and the `stop.distance_threshold`. -A lanelet is deemed non-relevent if it meets one of the following conditions. +A lanelet is deemed non-relevant if it meets one of the following conditions. - It is part of the lanelets followed by the ego path. - It contains the rear point of the ego footprint. diff --git a/planning/freespace_planning_algorithms/README.md b/planning/freespace_planning_algorithms/README.md index 0084f4c296547..7069a1c0fabfc 100644 --- a/planning/freespace_planning_algorithms/README.md +++ b/planning/freespace_planning_algorithms/README.md @@ -50,6 +50,9 @@ colcon build --packages-select freespace_planning_algorithms colcon test --packages-select freespace_planning_algorithms ``` + + + Inside the test, simulation results are stored in `/tmp/fpalgos-{algorithm_type}-case{scenario_number}` as a rosbag. Loading these resulting files, by using [test/debug_plot.py](test/debug_plot.py), one can create plots visualizing the path and obstacles as shown diff --git a/planning/obstacle_avoidance_planner/docs/debug.md b/planning/obstacle_avoidance_planner/docs/debug.md index 9ee18b732d375..f378decd4da25 100644 --- a/planning/obstacle_avoidance_planner/docs/debug.md +++ b/planning/obstacle_avoidance_planner/docs/debug.md @@ -28,7 +28,7 @@ The `vehicle_model` must be specified to make footprints with vehicle's size. ![path_footprint](../media/debug/path_footprint_visualization.png) -- **Drivalbe Area** +- **Drivable Area** - The Drivable area generated in the `behavior` planner. - The skyblue left and right line strings, that is visualized by default. - NOTE: @@ -69,7 +69,7 @@ The `vehicle_model` must be specified to make footprints with vehicle's size. - **Vehicle Circles** - The vehicle's shape is represented by a set of circles. - - The `obstcle_avoidance_planner` will try to make the these circles inside the above boundaries' width. + - The `obstacle_avoidance_planner` will try to make the these circles inside the above boundaries' width. ![vehicle_circles](../media/debug/vehicle_circles_visualization.png) diff --git a/planning/obstacle_avoidance_planner/docs/mpt.md b/planning/obstacle_avoidance_planner/docs/mpt.md index f76115b8da1cb..5bc2ddefe10c6 100644 --- a/planning/obstacle_avoidance_planner/docs/mpt.md +++ b/planning/obstacle_avoidance_planner/docs/mpt.md @@ -360,7 +360,7 @@ $$ To realize collision-free trajectory planning, we have to formulate constraints that the vehicle is inside the road and also does not collide with obstacles in linear equations. For linearity, we implemented some methods to approximate the vehicle shape with a set of circles, that is reliable and easy to implement. -- 1. Bibycle Model +- 1. Bicycle Model - 2. Uniform Circles - 3. Fitting Uniform Circles diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md index 60d652c6140e4..c8813280c04ff 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/README.md @@ -185,7 +185,7 @@ ros2 run accel_brake_map_calibrator actuation_cmd_publisher.py ## Calibration Method -Two algorithms are selectable for the acceleration map update, [update_offset_four_cell_around](#update_offset_four_cell_around-1) and [update_offset_each_cell](#update_offset_each_cell). Please see the link for datails. +Two algorithms are selectable for the acceleration map update, [update_offset_four_cell_around](#update_offset_four_cell_around-1) and [update_offset_each_cell](#update_offset_each_cell). Please see the link for details. ### Data Preprocessing