feat: use `pose_source` and `twist_source` for selecting localization methods #4257

kminoda · 2023-07-12T09:21:46Z

THIS PR SHOULD BE MERGED AFTER A CERTAIN DISCUSSION IN https://github.com/orgs/autowarefoundation/discussions/3659

Description

Change localization_launch architecture so that we can select localization methods with

pose_source: ndt, yabloc, or eagleye
twist_source: gyro_odom, or eagleye

You can specify these now like as follow:

$ ros2 launch autoware_launch autoware.launch.xml ... pose_source:=yabloc twist_source:=gyro_odom ...

NOTE: This PR does NOT (and must not) change the performance of any localization mode.

Tests performed

For logging simulator:
- Run with default launch command to verify that it works
- Run with pose_source:=yabloc with yabloc sample rosbag
- Run with pose_source:=ndt_scan_matcher twist_source:=eagleye to confirm that eagleye with twist_estimator mode works
- Run with pose_source:=eagleye twist_source:=eagleye to confirm that eagleye with pose_twist_estimator mode works
For planning simulator:
- Run simple planning simulator and confirmed that it engages and starts driving
- Run scenario based planning simulation based on a tutorial and confirmed that the vehicle engages and starts driving

Notes for reviewers

Some large modifications have been made in this PR, including:

localization_launch directory structure
- pose_estimator and twist_estimator has been merged into pose_twist_estimator
- map4_localization_launch has been removed
YabLoc
- Namespace has been modified (/localization/yabloc/... to /localization/pose_estimator/...)

For testing this PR, please use the following dataset:

NDT: any data with LiDAR is OK (e.g. sample-map-rosbag)
YabLoc: please find the YabLoc sample dataset in this link
Eagleye: Sample data is NOT sufficient, so please use some arbitrary longer data, e.g. from JPN TAXI (eagleye takes a lot of time for initialization)

Interface changes

Some of the YabLoc internal topic names are modified, but should not have any effect to other packages (No influence when using other pose estimator such as ndt_scan_matcher)

Effects on system behavior

None

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Signed-off-by: kminoda <koji.minoda@tier4.jp>

…namespace Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp>

…nce eval yet) Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp>

codecov · 2023-07-12T09:53:48Z

Codecov Report

Patch coverage has no change and project coverage change: -0.71 ⚠️

Comparison is base (c23e7cd) 15.17% compared to head (76a08a8) 14.46%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4257      +/-   ##
==========================================
- Coverage   15.17%   14.46%   -0.71%     
==========================================
  Files        1493     1567      +74     
  Lines      102882   107061    +4179     
  Branches    31554    31101     -453     
==========================================
- Hits        15612    15488     -124     
- Misses      70314    74731    +4417     
+ Partials    16956    16842     -114

Flag	Coverage Δ		*Carryforward flag
differential	`6.17% <ø> (?)`
total	`14.46% <ø> (-0.71%)`	⬇️	Carriedforward from e09b80b

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see 283 files with indirect coverage changes

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Signed-off-by: kminoda <koji.minoda@tier4.jp>

KYabuuchi · 2023-07-13T04:19:38Z

For other reviewers, you can find the YabLoc sample dataset in this link 📸

KYabuuchi · 2023-07-13T06:11:07Z

I have tested all combinations using logging_simulator.launch.xml.
I found some problems.
( I just checked the behavior and have not seen the code yet. I will let you know if I find those causes. 🏃 )

twist\pose	ndt	yabloc	eagleye	INVALID ARG
gyro_odom	🆗	🆗	⚠️	*1
eagleye	🆗	🆗	⚠️	*1
INVALID ARG	*2	*2	*2	*3

*1, *2 and *3 indicates that pose_estimator, twist_estimator, and both of them are not launched, respectively. It looks good to me.

Issue 1

When pose_source:=eagleye, Perhaps the GNSS topic that pose_initializer is subscribe to has not been properly modified. Therefore, the localization state is transitioning to INITIALIZED before eagleye is initialized.
Conventionally, the topic was remapped as shown in this link.

Issue 2

When pose_source:=eagleye twist_source:=gyro_odom, multiple twist_estimator publishes /localization/twist_estimator/twist_with_covariance. Is this expected behavior?

…pose/twist relay nodes Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-07-13T07:32:28Z

@KYabuuchi Thank you for the comprehensive evaluation! Both points are now fixed: in d289f03 and b0da34a.

KYabuuchi · 2023-07-13T10:45:55Z

I have confirmed that all estimator combinations work correctly in my environment too. 🎉

Next, I will review the code in more detail. Please wait a bit more.

KYabuuchi

Please update launch/tier4_localization_launch/README.md, too

KYabuuchi · 2023-07-14T08:26:50Z

Please add the following packages, which were written in map4_localization_launch, to the package.xml in tier4_localization_launch. 🙏

  <exec_depend>eagleye_fix2pose</exec_depend>
  <exec_depend>eagleye_gnss_converter</exec_depend>
  <exec_depend>eagleye_rt</exec_depend>

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-07-14T09:00:33Z

@KYabuuchi Thank you! Addressed both part.

KYabuuchi

LGTM

KYabuuchi

Sorry, I noticed after LGTM. 🙇
The instructions on how to launch yabloc in the /localization/yabloc/README.md is outdated. Could you update it?

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-07-18T02:08:41Z

@KYabuuchi Thank you! Fixed (and confirmed that localization_mode does not exist in Autoware workspace)

isamu-takagi

LGTM for pose_initializer

…tor_launch_py

kminoda added 8 commits July 7, 2023 10:49

feat(tier4_localization_launch): add pose_twist_estimator.launch.py

d878bc8

Signed-off-by: kminoda <koji.minoda@tier4.jp>

update format

d89d767

Signed-off-by: kminoda <koji.minoda@tier4.jp>

update launcher

23d50d2

Signed-off-by: kminoda <koji.minoda@tier4.jp>

update pose_initailizer config

5738d09

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Move pose_initializer to pose_twist_estimator.launch.py, move yabloc …

edbba90

…namespace Signed-off-by: kminoda <koji.minoda@tier4.jp>

use launch.xml instead of launch.py

0ebe6ff

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Validated that all the configuration launches correctly (not performa…

bcf46e8

…nce eval yet) Signed-off-by: kminoda <koji.minoda@tier4.jp>

Remove arg

4ab31c0

Signed-off-by: kminoda <koji.minoda@tier4.jp>

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:localization Vehicle's position determination in its environment. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Jul 12, 2023

pre-commit-ci bot and others added 3 commits July 12, 2023 09:24

style(pre-commit): autofix

a079b9b

Update eagleye param path

2421505

Signed-off-by: kminoda <koji.minoda@tier4.jp>

minor update

ed81e20

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda changed the title ~~Feat/add pose twist estimator launch py~~ feat: use pose_source and twist_source for selecting localization methods Jul 12, 2023

fix minor bugs

9bbf84e

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda mentioned this pull request Jul 13, 2023

feat: use pose_source and twist_source for selecting localization methods autowarefoundation/autoware_launch#442

Merged

7 tasks

fix minor bugs

6cb96c9

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda marked this pull request as ready for review July 13, 2023 01:53

kminoda requested review from KYabuuchi, isamu-takagi, YamatoAndo, KeisukeShima, taikitanaka3, TakaHoribe, takayuki5168, tkimura4 and RyuYamamoto as code owners July 13, 2023 01:53

kminoda self-assigned this Jul 13, 2023

Merge branch 'main' into feat/add_pose_twist_estimator_launch_py

5425088

kminoda added 2 commits July 13, 2023 16:01

Introduce use_eagleye_twist args in eagleye_rt.launch.xml to control …

d289f03

…pose/twist relay nodes Signed-off-by: kminoda <koji.minoda@tier4.jp>

Update pose_initializer input topic when using eagleye

b0da34a

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Merge branch 'main' into feat/add_pose_twist_estimator_launch_py

4fd3c60

KYabuuchi requested changes Jul 14, 2023

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kminoda and others added 6 commits July 14, 2023 17:39

Add eagleye dependency in tier4_localization_launch

319ce20

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Update tier4_localization_launch readme

51349e9

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style(pre-commit): autofix

37eae14

Update svg

b0829fd

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Update svg again (transparent background)

f539d04

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style(pre-commit): autofix

ee69faa

KYabuuchi approved these changes Jul 17, 2023

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KYabuuchi reviewed Jul 17, 2023

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Update yabloc document

e09b80b

Signed-off-by: kminoda <koji.minoda@tier4.jp>

isamu-takagi approved these changes Jul 18, 2023

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Merge remote-tracking branch 'origin' into feat/add_pose_twist_estima…

76a08a8

…tor_launch_py

takayuki5168 approved these changes Jul 18, 2023

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kminoda merged commit 3c41d3e into autowarefoundation:main Jul 19, 2023

tier4-autoware-public-bot bot mentioned this pull request Jul 19, 2023

chore: sync upstream tier4/autoware.universe#668

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kminoda deleted the feat/add_pose_twist_estimator_launch_py branch August 10, 2023 08:51

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feat: use `pose_source` and `twist_source` for selecting localization methods #4257

feat: use `pose_source` and `twist_source` for selecting localization methods #4257

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feat: use pose_source and twist_source for selecting localization methods #4257

feat: use pose_source and twist_source for selecting localization methods #4257

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kminoda commented Jul 12, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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Codecov Report

KYabuuchi commented Jul 13, 2023

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feat: use `pose_source` and `twist_source` for selecting localization methods #4257

feat: use `pose_source` and `twist_source` for selecting localization methods #4257

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