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fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection #3950

Merged
merged 3 commits into from
Jun 14, 2023
Merged

fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_detection #3950

merged 3 commits into from
Jun 14, 2023

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0x126
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@0x126 0x126 commented Jun 12, 2023 •
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Description

Correcting a few errors of the topic remapping in the camera_lidar_radar_fusion mode.

Tests performed

  • Launched logging_simulator and checked the information of the related nodes.
$ ros2 launch autoware_launch logging_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit perception_mode:=camera_lidar_radar_fusion map_path:=... 

$ ros2 node info /perception/object_recognition/detection/radar/radar_tracks_msgs_converter
/perception/object_recognition/detection/radar/radar_tracks_msgs_converter
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /localization/kinematic_state: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /sensing/radar/front_center/objects_raw: radar_msgs/msg/RadarTracks
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/radar/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/radar/output/radar_tracked_objects: autoware_auto_perception_msgs/msg/TrackedObjects
    /rosout: rcl_interfaces/msg/Log
...
$ ros2 node info /perception/object_recognition/detection/radar_object_fusion_to_detected_object
/perception/object_recognition/detection/radar_object_fusion_to_detected_object
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/camera_lidar_fusion/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/radar/objects: autoware_auto_perception_msgs/msg/DetectedObjects
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/radar_object_fusion_to_detected_object/debug/low_confidence_objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /rosout: rcl_interfaces/msg/Log
...

Effects on system behavior

Not applicable.

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@0x126
fix: launch arguments
3f0e18d 
Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
@github-actions github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Jun 12, 2023
@0x126
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0x126 commented Jun 12, 2023 •
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Confirmed in other modes.

lidar_radar_fusion mode

$ ros2 launch autoware_launch logging_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit perception_mode:=lidar_radar_fusion map_path:=...

$ ros2 node info /perception/object_recognition/detection/radar/radar_tracks_msgs_converter
/perception/object_recognition/detection/radar/radar_tracks_msgs_converter
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /localization/kinematic_state: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /sensing/radar/front_center/objects_raw: radar_msgs/msg/RadarTracks
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/radar/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/radar/output/radar_tracked_objects: autoware_auto_perception_msgs/msg/TrackedObjects
    /rosout: rcl_interfaces/msg/Log
...

$ ros2 node info /perception/object_recognition/detection/radar_object_fusion_to_detected_object
/perception/object_recognition/detection/radar_object_fusion_to_detected_object
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/lidar/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/radar/objects: autoware_auto_perception_msgs/msg/DetectedObjects
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/radar_object_fusion_to_detected_object/debug/low_confidence_objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /rosout: rcl_interfaces/msg/Log
...

@0x126
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0x126 commented Jun 12, 2023

radar mode

$ ros2 launch autoware_launch logging_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit perception_mode:=radar map_path:=...

$ ros2 node info /perception/object_recognition/detection/radar_tracks_msgs_converter
/perception/object_recognition/detection/radar_tracks_msgs_converter
  Subscribers:
    /clock: rosgraph_msgs/msg/Clock
    /localization/kinematic_state: nav_msgs/msg/Odometry
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /sensing/radar/front_center/objects_raw: radar_msgs/msg/RadarTracks
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/object_recognition/detection/objects: autoware_auto_perception_msgs/msg/DetectedObjects
    /perception/object_recognition/detection/output/radar_tracked_objects: autoware_auto_perception_msgs/msg/TrackedObjects
    /rosout: rcl_interfaces/msg/Log
...

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codecov bot commented Jun 12, 2023 •
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Codecov Report

Patch coverage has no change and project coverage change: +1.03 🎉

Comparison is base (57c958f) 14.41% compared to head (d1ed49a) 15.45%.

❗ Current head d1ed49a differs from pull request most recent head 34a24c1. Consider uploading reports for the commit 34a24c1 to get more accurate results

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #3950      +/-   ##
==========================================
+ Coverage   14.41%   15.45%   +1.03%     
==========================================
  Files        1456     1350     -106     
  Lines      102660    95894    -6766     
  Branches    29728    29631      -97     
==========================================
+ Hits        14795    14817      +22     
+ Misses      71705    64925    -6780     
+ Partials    16160    16152       -8
Flag Coverage Δ *Carryforward flag
differential ∅ <ø> (?)
total 15.45% <ø> (+1.03%) ⬆️ Carriedforward from 3f0e18d

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

see 125 files with indirect coverage changes

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@0x126 0x126 marked this pull request as ready for review June 13, 2023 00:12
@0x126 0x126 requested review from miursh, YoshiRi, yukkysaito and a team as code owners June 13, 2023 00:12
@yukkysaito yukkysaito requested a review from scepter914 June 13, 2023 03:18
miursh
miursh approved these changes Jun 13, 2023
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LGTM

scepter914
scepter914 approved these changes Jun 13, 2023
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LGTM

@0x126 0x126 enabled auto-merge (squash) June 14, 2023 06:46
@0x126 0x126 merged commit 67b8cf3 into main Jun 14, 2023
@0x126 0x126 deleted the fix/radar_launch branch June 14, 2023 10:26
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jun 15, 2023
Merged
badai-nguyen pushed a commit to badai-nguyen/autoware.universe that referenced this pull request Jun 29, 2023
@0x126 @badai-nguyen
fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_det…
43aeee0 
…ection (autowarefoundation#3950)

* fix: launch arguments

Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>

* chore: revert arg

---------

Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
badai-nguyen pushed a commit to badai-nguyen/autoware.universe that referenced this pull request Jul 7, 2023
@0x126 @badai-nguyen
fix(tier4_perception_launch): fix camera_lidar_radar_fusion_based_det…
c6b8d42 
…ection (autowarefoundation#3950)

* fix: launch arguments

Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>

* chore: revert arg

---------

Signed-off-by: Shinnosuke Hirakawa <shinnosuke.hirakawa@tier4.jp>
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@miursh miursh miursh approved these changes

@scepter914 scepter914 scepter914 approved these changes

@YoshiRi YoshiRi Awaiting requested review from YoshiRi YoshiRi is a code owner

@yukkysaito yukkysaito Awaiting requested review from yukkysaito yukkysaito is a code owner

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