feat: add gnss/imu localizer #3063

rsasaki0109 · 2023-03-13T08:20:19Z

Description

The following PR for autoware.universe changes for eagleye (GNSS/IMU) had a problem with the commit log, so I created another PR.
#2848

This is the PR for integrating GNSS/IMU localizar discussed in the discussion below.
https://github.com/orgs/autowarefoundation/discussions/3257

~~Added gnss imu localizar related launch,param~~
~~Added pose_estimator_mode(lidar, gnss),twist_estimator_mode(gyro_odom_fusion, gyro_odom_gnss_fusion) parameter in localization.launch.xml to switch between pose,twist~~
~~In gyro_odom_gnss_fusion mode, twist is corrected by gnss.~~
~~You can adjust the eagleye pose output in launch/tier4_localization_launch/launch/eagleye/fix2pose.xml.~~

The above conditional branching for each pose_estimator and twist_estimator within the tier4_localization_launch package is complex and has been changed.
Instead, we have introduced the map4_localization_launch packages.
A discussion on this is provided below.
(This is a private social networking site for the TIEV IV group.)
https://map4-inc.slack.com/archives/CEL0DR2S2/p1680144103464929?thread_ts=1680143206.632879&cid=CEL0DR2S2

Switch localization launch for each structure in map4_localization_component.launch.xml.

localization launch	twist estimator	pose estimator
tier4_localization_launch	gyro_odometry	ndt_scan_matcher
map4_localization_launch/eagleye_twist_localization_launch	eagleye_rt(gyro/odom/gnss fusion)	ndt_scan_matcher
map4_localization_launch/eagleye_pose_twist_localization_launch	eagleye_rt(gyro/odom/gnss fusion)	eagleye_rt(gyro/odom/gnss fusion)

Tests performed

Localizaiton methods are expected to work as normal, even if they change.
Sample rosbag is available for simple operation tests.
Also, if you have a rosbag of a system with the same configuration of sensors, you can check the operation to some extent.

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Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

codecov · 2023-03-13T08:41:23Z

Codecov Report

Patch coverage has no change and project coverage change: -2.14 ⚠️

Comparison is base (aba954f) 14.61% compared to head (895456e) 12.48%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3063      +/-   ##
==========================================
- Coverage   14.61%   12.48%   -2.14%     
==========================================
  Files        1294     1351      +57     
  Lines       92007    92662     +655     
  Branches    29071    26027    -3044     
==========================================
- Hits        13451    11571    -1880     
- Misses      64111    68878    +4767     
+ Partials    14445    12213    -2232

Flag	Coverage Δ		*Carryforward flag
differential	`8.53% <ø> (?)`
total	`12.48% <0.00%> (-2.14%)`	⬇️	Carriedforward from 006e353

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ane_change/external_request_lane_change_module.hpp	`0.00% <ø> (ø)`
...ane_change/external_request_lane_change_module.cpp	`0.00% <0.00%> (-12.68%)`	⬇️
...rc/scene_module/lane_change/lane_change_module.cpp	`0.00% <ø> (-15.63%)`	⬇️
..._planner/src/scene_module/intersection/manager.cpp	`0.00% <ø> (ø)`
...c/scene_module/intersection/scene_intersection.cpp	`0.00% <ø> (ø)`

... and 449 files with indirect coverage changes

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Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

rsasaki0109 · 2023-03-13T22:48:19Z

Mention the previous reviewer who is not in the "Reviewers".
@yukkysaito @KYabuuchi @kminoda

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

rsasaki0109 · 2023-04-10T04:55:06Z

@KYabuuchi
Your point is well taken. I have made the necessary corrections

KYabuuchi · 2023-04-10T06:05:21Z

Thank you for reflecting my review! 👍
I think this PR has become simple enough.
In my opinion, this PR will be ready when the associated PRs (documentation and autoware_launch) reflect the current launch file structure.

rsasaki0109 · 2023-04-10T06:11:17Z

I have already reflected it in autoware_launch. Please wait a little for the modification in autoware-documentation.

rsasaki0109 · 2023-04-10T07:06:28Z

documentation was also updated

KYabuuchi

I think there is no major problem.
The following two comments will be the last review from me.

launch/map4_localization_launch/package.xml

...p4_localization_launch/eagleye_pose_twist_localization_launch/localization_launch.drawio.svg

kminoda

Mostly LGTM, but left some minor comments. Thank you for all of your work on our review 🙏

Also, please make sure that you've got an agreement from architects about this specific directory structure, as IMHO this is the most challenging (and also the most interesting) part where we have to design carefully so that the contributers can easily add their implementation.

launch/map4_localization_launch/README.md

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

launch/map4_localization_launch/README.md

localization/pose_initializer/launch/pose_initializer.launch.xml

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

mitsudome-r

LGTM, but we should also have approval from Localization engineers before merging.

yukkysaito

LGTM

kminoda

LGTM

launch/map4_localization_launch/package.xml

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

KYabuuchi

I tested all localizers(NDT, NDT+eagleye, eagleye) again, and they worked well.

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

* Add gnss_imu_localizar Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix twist switching bug Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix spell and reformat Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Parameterize directories with related launches Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix mis-spell Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Correction of characters not registered in the dictionary Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Make ealeye_twist false Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Delete unnecessary parts Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Rename localization switching parameters Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Rename twist_estimator_mode parameter pattern Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Simplify conditional branching Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Support for changes in pose_initializer Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix problem of double eagleye activation Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix unnecessary changes Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Remove conditional branching by pose_estimatar_mode in system_error_monitor Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Change launch directory structure Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Remove unnecessary parameters and files Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix indentations Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Coding modifications based on conventions Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Change the structure diagram in the package Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Integrate map4_localization_component1,2 Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Add drawio.svg Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Delete duplicate files Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Change auther and add maintainer Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Delete unnecessary modules in drawio Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fixing confusing sentences Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fine-tuning of drawio Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Fix authomaintainerr Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Rename ndt to ndt_scan_matcher Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * follow the naming convention Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Add newlines to the end of files to fix end-of-file-fixer hook errors Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * List the packages that depend on map4_localization_launch correctly Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> * Ran precommit locally Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> --------- Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp> Signed-off-by: Mingyu Li <mingyu.li@tier4.jp>

rsasaki0109 added 14 commits February 9, 2023 14:56

Add gnss_imu_localizar

6ab8192

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix twist switching bug

a40664a

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix spell and reformat

010818d

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Parameterize directories with related launches

35a1aa0

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix mis-spell

792cfd6

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Correction of characters not registered in the dictionary

ee3f2fd

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Make ealeye_twist false

18d2e17

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Delete unnecessary parts

048ef6b

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Rename localization switching parameters

b3694b0

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Rename twist_estimator_mode parameter pattern

10df471

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Simplify conditional branching

9f007da

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Resolve conflicts

4275625

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Support for changes in pose_initializer

0e0162f

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Merge branch 'main' into feat/add_gnss_imu_localizar

509778b

github-actions bot added component:launch Launch files, scripts and initialization tools. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:system System design and integration. (auto-assigned) labels Mar 13, 2023

Fix problem of double eagleye activation

1df2f25

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

rsasaki0109 changed the title ~~Feat/add gnss imu localizar~~ feat: add gnss/imu localizer Mar 13, 2023

Fix unnecessary changes

026cb3f

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

yukkysaito requested review from YamatoAndo, kminoda, yukkysaito and KYabuuchi March 14, 2023 01:39

rsasaki0109 marked this pull request as ready for review March 14, 2023 01:59

rsasaki0109 requested review from ito-san, kenji-miyake and a team as code owners March 14, 2023 01:59

rsasaki0109 mentioned this pull request Apr 10, 2023

docs(eagleye-setting-guide): add eagleye setting in how to guides autowarefoundation/autoware-documentation#334

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KYabuuchi reviewed Apr 11, 2023

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...p4_localization_launch/eagleye_pose_twist_localization_launch/localization_launch.drawio.svg Outdated Show resolved Hide resolved

kminoda reviewed Apr 11, 2023

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rsasaki0109 added 5 commits April 11, 2023 17:15

Change auther and add maintainer

b7d5889

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Delete unnecessary modules in drawio

f4e68d1

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fixing confusing sentences

514eb35

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fine-tuning of drawio

b822dad

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Fix authomaintainerr

b6b6923

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

mitsudome-r reviewed Apr 17, 2023

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launch/map4_localization_launch/README.md Outdated Show resolved Hide resolved

localization/pose_initializer/launch/pose_initializer.launch.xml Outdated Show resolved Hide resolved

rsasaki0109 and others added 4 commits April 17, 2023 14:37

Rename ndt to ndt_scan_matcher

0a06c56

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

follow the naming convention

294167c

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Add newlines to the end of files to fix end-of-file-fixer hook errors

335cba7

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Merge branch 'main' into feat/add_gnss_imu_localizar

7d3095f

mitsudome-r approved these changes Apr 20, 2023

View reviewed changes

yukkysaito approved these changes Apr 20, 2023

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kminoda approved these changes Apr 21, 2023

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YamatoAndo reviewed Apr 21, 2023

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launch/map4_localization_launch/package.xml Show resolved Hide resolved

List the packages that depend on map4_localization_launch correctly

006e353

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

YamatoAndo approved these changes Apr 24, 2023

View reviewed changes

KYabuuchi approved these changes Apr 24, 2023

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rsasaki0109 mentioned this pull request Apr 24, 2023

feat(repos): add gnss/imu localizer autowarefoundation/autoware#3261

Merged

4 tasks

rsasaki0109 added 2 commits April 24, 2023 15:18

Ran precommit locally

8536ab1

Signed-off-by: Ryohei Sasaki <ryohei.sasaki@map4.jp>

Merge branch 'main' into feat/add_gnss_imu_localizar

895456e

kminoda merged commit 2894c4b into autowarefoundation:main Apr 26, 2023

tier4-autoware-public-bot bot mentioned this pull request Apr 27, 2023

chore: sync upstream tier4/autoware.universe#388

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feat: add gnss/imu localizer #3063

feat: add gnss/imu localizer #3063

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feat: add gnss/imu localizer #3063

feat: add gnss/imu localizer #3063

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