Implement sensor drivers for ROS 2 #551

BonoloAWF · 2022-03-21T15:15:20Z

Checklist

I've read the contribution guidelines.
I've searched other issues and no duplicate issues were found.
I've agreed with the maintainers that I can plan this task.

Description

Implement sensor drivers for ROS 2

Purpose

The Bus ODD is being developed in ROS 2 which requires porting sensor drivers where required

Possible approaches

Find open source sensor drivers or implement the required drivers

Definition of done

ITRI Bus

List of sensors on the bus
List of missing ROS 2 drivers
Development of missing drivers

Drivers post: #551 (comment)

Leo Drive - Isuzu Bus

List of sensors on the bus
List of missing ROS 2 drivers
Development of missing drivers

Drivers post: #551 (comment)

* release v0.4.0 * fix uninitialized variables (autowarefoundation#816) * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit 3a695e62c841e01681880263bb62a810f11ebf74. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Rename launch files to launch.xml (autowarefoundation#28) * port shape_estimation to ros2 (autowarefoundation#37) * port shape_estimation to ros2 Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * minor fix from review Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused files Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * minor fix on include Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix cmakelist Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * remove unused codes Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * fix cmake Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [shape_estimation] fix launch file (autowarefoundation#116) * [shape_estimation] fix launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * remove unnecessary find_package from CMakeLists.txt Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * adding linters to shape_estimation (autowarefoundation#174) * Ros2 v0.8.0 shape estimation (autowarefoundation#257) * fix typos in perception (autowarefoundation#862) * Feature/camera lidar perception (autowarefoundation#937) * add object splitter Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add object merger Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * change pkg name Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * cosmetic change Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * add comment Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * remove litter Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix : debug code Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * enable vehicle to unknown track Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> * bug fix * add object position in clustering * 🚮 * change param * fix name * bug fix * add install Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * fix bug (autowarefoundation#1161) (autowarefoundation#374) Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> * Fix typo in perception module (autowarefoundation#440) * add use_sim-time option (autowarefoundation#454) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Perception components (autowarefoundation#1368) * [bev_optical_flow]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [object_merger]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [object_range_splitter]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [shape_estimation]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [map_based_prediction]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [naive_path_prediction]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [roi_image_saver]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [lidar_apollo_instance_segmentation]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [object_flow_fusion]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [traffic_light_map_based_detector]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * [dynamic_object_visualization]: component node Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * suppress warnings for shape estimation (autowarefoundation#1770) * add Werror * fix uninitialized * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix mistake Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> * Refactor shape estimation for detection by tracking (autowarefoundation#1861) * refactor * modification due to refactoring * cosmetic change and add virtual * change to lib * fix typo * bug fix * cosmetic change * bug fix * add constexpr * cosmetic change * cosmetic change * cosmetic change * cosmetic change * Invoke code formatter at pre-commit (autowarefoundation#1935) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * add createQuaternionFromYaw (autowarefoundation#2120) * add createQuaternionFromYaw * add test * change return value type of createQuaternionFromRPY from tf2::quat to geomety_msgs::msg::quat * use geometry_msgs::msg::Quaternion in createQuaternionFromRPY in application * Detection by tracker (autowarefoundation#1910) * initial commit * backup * apply format * cosmetic change * implement divided under segmenterd clusters * cosmetic change * bug fix * bug fix * bug fix * modify launch * add debug and bug fix * bug fix * bug fix * add no found tracked object * modify parameters and cmake * bug fix * remove debug info * add readme * modify clustering launch * run pre-commit * cosmetic change * cosmetic change * cosmetic change * apply markdownlint * modify launch * modify for cpplint * modify qos * change int to size_T * bug fix * change perception qos * Update perception/object_recognition/detection/detection_by_tracker/package.xml Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * cosmetic change * cosmetic change * fix launch * Update perception/object_recognition/detection/detection_by_tracker/src/utils.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * modify header include order * change include order * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * change to std::optional * cosmetic change * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * bug fix * modify readme Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Port shape estimation to .auto (autowarefoundation#551) * Port shape estimation to .auto Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Cosmetic change Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Run pre commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix typo Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Cosmetic change: type -> label Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add trailer label Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update document for shape estimation (autowarefoundation#604) * Update document for shape estimation Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Update perception/object_recognition/detection/shape_estimation/README.md Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Run pre-commit Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Address review Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * [shape_estimation]change type (autowarefoundation#663) * change output type of shape_estimation * remove unused function * add dynamic_object_converter * rename * fix typo * fix dummy_perception_publisher * update readme * fix copyright * rename package * add readme * fix launch name * remove unused variable * fix readme * fix convert function * change topic name of DynamicObjectsWithFeature Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Yukihiro Saito <yukky.saito@gmail.com> Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takeshi Ishita <ishitah.takeshi@gmail.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>

mitsudome-r · 2022-03-23T14:20:36Z

Yang shared https://github.com/Kitware/LidarView, which might help us design a unified sensor driver for different LiDARs.
We should go through different LiDAR implementation (ros-driver, autoware.auto, Nagoya University implementation) to have the best design for Autoware.

TakumiKozaka-T4 · 2022-03-24T00:16:36Z

@BonoloAWF
Could you remove my name from assignees?
I'm not concerned with this issue.

TakumiKozaka-T4 pushed a commit to TakumiKozaka-T4/autoware.universe that referenced this issue 22 hours ago

I didn't push anything. I only updated my forked repository.

senagolcuk · 2022-04-04T15:21:28Z

Sensor Type	Sensor Model	Sensor Driver
Radar	Delphi ESR	Missing
Lidar	Ouster OS1-64	OS1-64 ROS2 Driver
GNSS-INS	Trimble BX992-INS	Missing
Camera	Onsemi AC-AR0231	Missing

mitsudome-r · 2022-05-10T08:13:43Z

@mitsudome-r will check with ITRI about ROS2 drivers for their platform

BonoloAWF · 2022-05-23T07:51:41Z

@hueirutseng what is the status update regarding upgrading ROS 2 drivers for the Bus ODD ITRI platform? Are there any missing drivers?

jason914 · 2022-05-24T01:19:16Z

@BonoloAWF The driver of camera AR0231 tested OK for ROS2.

mitsudome-r · 2022-05-24T08:08:20Z

@jason914 Could you provide a similar table that @senagolcuk provided in his comment? ( including the link to the code of each driver)

jason914 · 2022-05-25T08:39:53Z

Sensor Type	Sensor Model	Sensor driver	Status
Radar	Delphi ESR	Missing	Work in progress
Lidar	Ouster OS1-64	OS1-64-ROS2 driver	Tested OK
GNSS-INS	Trimble BX992-INS	Missing	Work in progess
Camera	Onsemi AC-AR0231	Private code(Please contact Neousys for source code)	Tested OK

mitsudome-r · 2022-06-07T08:04:41Z

@jason914 Thanks for posting the table.
Do you have any updates + estimated timeline on Radar and GNSS-INS sensor driver?

mikechan0731 · 2022-06-08T02:31:39Z

Sensor Type	Sensor Model	Sensor driver
Radar	Delphi ESR	WIP, Estimated test date is the end of Oct.
Lidar	Ouster OS1-64	ros2-ouster-driver
GNSS-INS	Trimble BX992-INS	Ready, Waiting for official upload space.
Camera	Onsemi AC-AR0231	Private code, Camera manufacturer does not provide code.

mitsudome-r · 2022-06-21T08:26:08Z

Expected message for GNSS is explained here: autowarefoundation/autoware_msgs#24

mitsudome-r · 2022-07-05T08:52:12Z

Once we have all drivers available, we can merge the information with the list created in the hardware WG and post it in autoware website.

xmfcx · 2022-07-19T08:02:44Z

@senagolcuk could you update here with the sensor drivers used in the ISUZU bus project?

@meliketanrikulu can you share the estimated timeline for the open sourcing of the applanix driver?

senagolcuk · 2022-07-20T13:33:39Z

Sensor Type	Sensor Model	Sensor Driver Status
Lidar	Velodyne Puck Lidar	Velodyne Driver
Lidar	Velodyne Ultra Puck Lidar	Velodyne Driver
GNSS-INS	Applanix POS LVX	Applanix Driver
Camera	LucidVisionLabs Triton 5.4 MP	LucidVisionLabs Triton Driver

xmfcx · 2022-07-26T16:23:38Z

Applanix POS LVX GNSS-INS driver will be published here: https://github.com/autowarefoundation/applanix

mitsudome-r · 2022-07-26T16:26:10Z

@senagolcuk
Could you tell me why your sensor driver status for lidar is "Work in progress"?
If you have the link to the driver that you are using, could you share it as well?

senagolcuk · 2022-07-27T09:22:40Z

@mitsudome-r

I'm updating now.

meliketanrikulu · 2022-08-01T22:02:40Z

Applanix POS LVX GNSS-INS driver will be published here: https://github.com/autowarefoundation/applanix

Added applanix POS LVX GNSS-INS driver.

sglee-morai · 2022-08-02T08:25:48Z

I have a question. Is it planned that OS1-64-ROS2 driver will be included in the Autoware.Universe like Velodyne drivers are? I see OS1-64 in the comment above, but cannot find a PR regarding that.

mitsudome-r · 2022-08-02T08:26:17Z

@mikechan0731 Could you update this comment to add the link to the drivers that you are using?

senagolcuk · 2022-08-02T11:59:47Z

@meliketanrikulu thanks for Applanix Driver. I'm updating the table for the new driver.

jason914 · 2022-08-11T04:03:09Z

Sensor Type	Sensor Model	Sensor Driver Status
Radar	Delphi ESR	WIP, Estimated completion date is the end of August
Lidar	Ouster OS1-64	ros2-ouster-driver
GNSS-INS	Trimble BX992-INS	Private code, GNSS-INS manufacturer does not provide code.
Camera	Onsemi AC-AR0231	Private code, Camera manufacturer does not provide code.

xmfcx · 2022-08-16T07:58:37Z

@senagolcuk could you update the list with the https://github.com/autowarefoundation/lucid_vision_driver driver?

senagolcuk · 2022-08-16T13:54:11Z

@xmfcx I updated it.

mitsudome-r · 2022-08-30T07:55:57Z

Regarding ITRI's comment: #551 (comment)
GNSS-INS driver is ready for testing, but the code is private now. They need internal review to find if they can share the code.

xmfcx · 2022-09-06T16:55:50Z

Since we've gathered possible sensor drivers, we can close this issue.

xmfcx · 2022-09-06T16:57:13Z

https://github.com/autowarefoundation/autoware-projects/wiki/Bus-ODD-Project related.

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

Signed-off-by: GitHub <noreply@github.com> Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

BonoloAWF added this to the Bus ODD Mar - Apr Milestone milestone Mar 21, 2022

mitsudome-r mentioned this issue Mar 22, 2022

Collect raw sensor data to test sensor drivers #562

Closed

1 task

BonoloAWF assigned TakumiKozaka-T4 and xmfcx Mar 23, 2022

BonoloAWF added the priority:high High urgency and importance. label Mar 23, 2022

BonoloAWF unassigned TakumiKozaka-T4 Mar 24, 2022

xmfcx assigned senagolcuk and unassigned xmfcx Mar 29, 2022

aohsato added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Apr 14, 2022

mitsudome-r assigned armaganarsln Jul 5, 2022

BonoloAWF removed this from the Bus ODD Mar - Apr Milestone milestone Jul 12, 2022

BonoloAWF added this to Bus ODD Project Jul 12, 2022

BonoloAWF moved this to In Progress in Bus ODD Project Jul 12, 2022

xmfcx added this to the Bus ODD July-Aug Milestone milestone Jul 19, 2022

BonoloAWF modified the milestones: Bus ODD July-Aug Milestone, Bus ODD Sep-Oct Milestone Sep 5, 2022

xmfcx closed this as completed Sep 6, 2022

Repository owner moved this from In Progress to Done in Bus ODD Project Sep 6, 2022

kosuke55 pushed a commit to kosuke55/autoware.universe that referenced this issue Jun 1, 2023

fix(behavior_path_planner): fix build error (autowarefoundation#551)

14234f4

Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

kyoichi-sugahara pushed a commit that referenced this issue Sep 16, 2023

chore: sync files (#551)

e74dfa3

Signed-off-by: GitHub <noreply@github.com> Signed-off-by: GitHub <noreply@github.com> Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>

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Implement sensor drivers for ROS 2 #551

Implement sensor drivers for ROS 2 #551

BonoloAWF commented Mar 21, 2022 •

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Implement sensor drivers for ROS 2 #551

Implement sensor drivers for ROS 2 #551

Comments

BonoloAWF commented Mar 21, 2022 • edited by mitsudome-r Loading

Checklist

Description

Purpose

Possible approaches

Definition of done

ITRI Bus

Leo Drive - Isuzu Bus

mitsudome-r commented Mar 23, 2022 • edited Loading

TakumiKozaka-T4 commented Mar 24, 2022

senagolcuk commented Apr 4, 2022

mitsudome-r commented May 10, 2022

BonoloAWF commented May 23, 2022

jason914 commented May 24, 2022

mitsudome-r commented May 24, 2022

jason914 commented May 25, 2022

mitsudome-r commented Jun 7, 2022

mikechan0731 commented Jun 8, 2022 • edited Loading

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mitsudome-r commented Jul 5, 2022

xmfcx commented Jul 19, 2022

senagolcuk commented Jul 20, 2022 • edited Loading

xmfcx commented Jul 26, 2022 • edited Loading

mitsudome-r commented Jul 26, 2022

senagolcuk commented Jul 27, 2022

meliketanrikulu commented Aug 1, 2022

sglee-morai commented Aug 2, 2022

mitsudome-r commented Aug 2, 2022

senagolcuk commented Aug 2, 2022

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