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feat(tier4_*_launch): move perception modules to simulator.launch.xml #452

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feat(tier4_*_launch): move perception modules to simulator.launch.xml #452

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takayuki5168
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@takayuki5168 takayuki5168 commented Feb 28, 2022 •
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Signed-off-by: Takayuki Murooka takayuki5168@gmail.com

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#455

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scenario sim will publish detection results although currently publish prediction results.
tier4/scenario_simulator_v2#712

We do not call tracking, prediction modules with scenario sim now, so I modified to call these modules with not only simple psim but also scenario sim.

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@taikitanaka3
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taikitanaka3 commented Mar 1, 2022 •
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@takayuki5168
can you refer pure perception launch and remove duplicated and unused tier4_perception launch like this? cc: @yukkysaito
#454

yukkysaito
yukkysaito reviewed Mar 1, 2022
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launch/tier4_simulator_launch/launch/simulator.launch.xml
Comment on lines +29 to +69
<!-- perception module -->
<group>
<push-ros-namespace namespace="perception"/>
<!-- object recognition -->
<group if="$(var perception/enable_object_recognition)">
<push-ros-namespace namespace="object_recognition"/>
<!-- detection module -->
<!-- tracking module -->
<group>
<push-ros-namespace namespace="tracking"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/tracking/tracking.launch.xml">
</include>
</group>
<!-- prediction module -->
<group>
<push-ros-namespace namespace="prediction"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/prediction/prediction.launch.xml">
<arg name="use_vector_map" value="true" />
</include>
</group>
</group>

<!-- object segmentation module -->
<group>
<push-ros-namespace namespace="occupancy_grid_map"/>
<!-- Occupancy Grid -->
<include file="$(find-pkg-share laserscan_to_occupancy_grid_map)/launch/laserscan_to_occupancy_grid_map.launch.py">
<arg name="input_obstacle_pointcloud" value="true" />
<arg name="input_obstacle_and_raw_pointcloud" value="false" />
<arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/pointcloud" />
<arg name="output" value="/perception/occupancy_grid_map/map" />
</include>
</group>

<!-- traffic light module -->
<group if="$(var perception/enable_traffic_light)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml"></include>
</group>
</group>

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The only things that are simulated are detection and obstacle segmentation. Other than that, tracking and prediction are working as usual (no simulation), so should it is put them in simulation.launch?

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@yukkysaito
In planning_simulator.launch.xml, perception launch is not called (planning/control launches are called).
Currently, we call perception launch (tracking, prediction, obstacle segmentation) from dummy_perception_publisher when using simple psim.

Now we want to use this perception launch with scenario sim as well, which does not depend on dummy_perception_publisher, so I moved them to simulator.launch.xml.
I'm ok to move to planning_simulator.launch.xml if you want

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@yukkysaito yukkysaito Mar 2, 2022 •
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@takayuki5168

In planning_simulator.launch.xml, perception launch is not called (planning/control launches are called).
Currently, we call perception launch (tracking, prediction, obstacle segmentation) from dummy_perception_publisher when using simple psim.

Yes. I know 👍

What I mean is that tracking and prediction are not simulated. What is being simulated is the point cloud, the vehicle model, and detection.
There is no problem that point cloud, the vehicle model, and detection. are in simulation.launch.
But there are things in simulation.launch that are not being simulated.
I'm not sure what is best. 🤔

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I think it's better to understand both tracking and prediction as being simulated and put them in simulator.launch.

@takayuki5168 takayuki5168 changed the title move perception modules to simulator.launch.xml feat(tier4_*_launch): move perception modules to simulator.launch.xml Mar 1, 2022
mitsudome-r added a commit to mitsudome-r/autoware.universe that referenced this pull request Mar 1, 2022
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feat: add autoware_system_monitor package (autowarefoundation#14)
e0fc816 
* release v0.4.0

* Fixed uninitialized variable. (autowarefoundation#763)

* Fixed various bugs. (autowarefoundation#768)

* Fixed various bugs.

* Fixed wrong status report of NIC.

* Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (autowarefoundation#788)

* 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 a9436882d50dc09fa5b8d6c0a151a10def76b242.

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* add COLCON_IGNORE to ros1 packages

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* Rename launch files to launch.xml (autowarefoundation#28)

* Port system monitor to ros2 (autowarefoundation#71)

* Implement a utility function that spins and updates a monitor node.

* Port cpu monitor

* Port hdd monitor.

* Port mem_monitor to ROS2

* Port  net_monitor to ROS2

* Port  ntp_monitor to ROS2

* Port  process_monitor to ROS2

* Port GPU_monitor to ROS2

* Port msr_reader and hdd_reader to ROS2

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* Run uncrustify on the entire Pilot.Auto codebase

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* ROS2 Linting: system_monitor (autowarefoundation#207)

* Add linters

* Fix clang-tidy error in util.hpp

* Ros2 v0.8.0 system monitor (autowarefoundation#276)

* fix dependency of system_monitor

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* Rename ROS-related .yaml to .param.yaml (autowarefoundation#352)

* Rename ROS-related .yaml to .param.yaml

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* Remove prefix 'default_' of yaml files

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* Rename vehicle_info.yaml to vehicle_info.param.yaml

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* Rename diagnostic_aggregator's param files

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* Fix overlooked parameters

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* Exclude SwPowerCap as an error. (autowarefoundation#1146) (autowarefoundation#364)

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* [Update v0.9.0] system monitor (autowarefoundation#365)

* Disable CPU Load Average warning. (autowarefoundation#1147)

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* Fix cpu_monitor respawning forever. (autowarefoundation#1150)

* Disable cpu_temperature in planning simulation (autowarefoundation#1151)

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* Net Monitor: Handle as an error if specified device not exist. (autowarefoundation#1152)

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* Disable network diags in simulation

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* apply ament_uncrustify

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* Disable resource monitoring in planning_simulator (autowarefoundation#1172)

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* Use thread for ntpdate. (autowarefoundation#1160) (autowarefoundation#375)

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* removed unused variable

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* Import v0.9.1 (autowarefoundation#431)

* add local optimal solution ocillation check to ndt_scan_matcher (autowarefoundation#1182)

* Add obstacle_crush diagnostic (autowarefoundation#1186)

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* Fix diagnostics api (autowarefoundation#1185)

* Fix diagnostics api

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* Don't overwrite level

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* Overwrite level of No Fault diagnostics

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* Add missing diag in autoware_error_monitor.yaml (autowarefoundation#1187)

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* Filter hazard_status (autowarefoundation#1191)

* Filter hazard_status

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* Filter leaf diagnostics

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix wrong calculation of available memory. (autowarefoundation#1168)

* Fixed wrong calculation of available memory.

* Added comments about output example of free -tb command.

* Change monitoring method to get HDD temperature and usage per specified device. (autowarefoundation#1195)

* Changed monitoring method to get temperature and usage per specified device.

* Fixed test codes.

* Removed unnecessary (void) parameter.

* return input pointcloud when ground plane not found (autowarefoundation#1190)

* fix yaw-smoothing bug (autowarefoundation#1198)

* Fix lint

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Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Fix typo in system module (autowarefoundation#434)

* Fix typo in system module

* Change variable name

* Move comments

* Apply uncrustify

* Split system_monitor config (autowarefoundation#452)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove unnecessary diagnostic update. (autowarefoundation#455)

* add use_sim-time option (autowarefoundation#454)

* Sync public repo (autowarefoundation#1228)

* [simple_planning_simulator] add readme (autowarefoundation#424)

* add readme of simple_planning_simulator

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (autowarefoundation#460)

* Fix pose2twist (autowarefoundation#462)

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Ros2 vehicle info param server (autowarefoundation#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (autowarefoundation#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>

* Fix issues in hdd_reader (autowarefoundation#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463)

* Rviz overlay render fix (autowarefoundation#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

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* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

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* back to RTD as superclass

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Rviz overlay render in update (autowarefoundation#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* uncrustified

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* acquire data in mutex

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* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

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* restored RTD superclass

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* Fix issues in gpu_monitor (autowarefoundation#1248)

* Fix issues in gpu_monitor
* Fix uninitialized variables
* Use range-based for loop
* Fix compile errors of tegra_gpu_monitor
* Replace C-style to C++-style

* Make iterators const

* Fix fmt::format() usage error

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [system_monitor] change some nodes into components (autowarefoundation#1234)

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* add system_monitor.launch.py (autowarefoundation#1238)

* add system_monitor.launch.py

* refactor system_monitor.launch.py

* fix launch bug

* fix typo

* fix launch py

* fix param loading

* format code

* fix system monitor executor to publish diagnostics asynclonously (autowarefoundation#1283)

* Fix lint errors (autowarefoundation#1378)

* Fix lint errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix variable names

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* Add kernel CPU usage. (autowarefoundation#1465)

* Add kernel CPU usage.

* Change CPU x: usage to CPU x: total.

* Changed variable name.

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore .param.yaml

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* Apply format

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* suppress warnings for system monitor (autowarefoundation#1723)

* fix for hdd_monitor

* fix no initialization and warning

* change command for ntp_monitor (autowarefoundation#1705)

* [EVT4-403] change command for ntp_monitor

* [EVT4-403] fixed CI build error

* [EVT4-403] fixed cpplint error

* delete executeChronyc thread, fix error topic and log output code

* fix cpplint error and code style divergence

* fix cpplint error(missing correction)

* Fix MD029 (autowarefoundation#1813)

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* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

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* Fix mistake

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* fix spell

* Fix lint issues

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* Ignore flake8 warnings

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* add gpu usage per process (autowarefoundation#1798)

* add gpu usage per process

* change illegal usage(4294967295%) to 0%, and fix CI running errors

* Replace gettimeofday with rclcpp::Node::now().

* Fix uncrustify error.

* Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME).

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* fix some typos (autowarefoundation#1941)

* fix some typos

* fix typo

* Fix typo

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* suppress warnings for system directory autowarefoundation#2046

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

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* rename

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* move prettier-xml to pre-commit-hooks-ros

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* Change formatter to clang-format and black (autowarefoundation#2332)

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Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp>
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Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
Co-authored-by: Makoto Tokunaga <vios-fish@users.noreply.github.com>
Co-authored-by: Adam Dąbrowski <adam.dabrowski@robotec.ai>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Co-authored-by: Takeshi Miura <takeshi.miura@tier4.jp>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: v-kitahara8153 <86092199+v-kitahara8153@users.noreply.github.com>
Co-authored-by: ito-san <fumihito.ito@tier4.jp>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
@takayuki5168
feat(tier4_*_launch): move perception modules to simulator.launch.xml
3e4c408 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168 takayuki5168 force-pushed the tmp/chk_simv2_beta0.30.0-enable-perception-module branch from ef8df85 to 3e4c408 Compare March 2, 2022 03:10
@takayuki5168 takayuki5168 mentioned this pull request Mar 2, 2022
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takayuki5168 commented Mar 2, 2022 •
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@tkimura4
I confirmed simple psim works with tier4_autoware_launch
Now it's ready for review

@takayuki5168 takayuki5168 requested a review from tkimura4 March 2, 2022 03:33
@takayuki5168
fix typo
ca8c56e 
Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
@takayuki5168 takayuki5168 marked this pull request as ready for review March 2, 2022 03:42
@takayuki5168 takayuki5168 deleted the tmp/chk_simv2_beta0.30.0-enable-perception-module branch March 2, 2022 05:10
TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Oct 5, 2022
@tier4-autoware-private-bot
Merge pull request autowarefoundation#452 from tier4/sync-main-for-de…
b8faf93 
…velop

sync main for develop
tkimura4 referenced this pull request in tier4/autoware.universe Oct 24, 2022
@kosuke55
feat(obstacle_avoidance_planne): enable plan_from_ego by default (#452)
aaea3c7 
Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
keiota pushed a commit to keiota/autoware.universe that referenced this pull request Aug 17, 2023
@satoshi-ota
fix(occlusion_spot): add lacking param (autowarefoundation#452)
39c52f8 
Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
kyoichi-sugahara pushed a commit that referenced this pull request Sep 16, 2023
@tier4-autoware-private-bot @kenji-miyake
chore: sync files (#452)
dd0bd90 
* chore: sync files

Signed-off-by: GitHub <noreply@github.com>

* Update sync-files.yaml

Co-authored-by: kenji-miyake <kenji-miyake@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
HansOersted pushed a commit to HansOersted/autoware.universe that referenced this pull request Mar 8, 2024
@TomohitoAndo
chore: update hash of vehicle2infrastructure (autowarefoundation#452)
3a6f262 
Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
YamatoAndo pushed a commit to YamatoAndo/autoware.universe that referenced this pull request Aug 8, 2024
@h-ohta @pre-commit-ci
fix(localization_error_monitor): fix build warning in Humble (autowar…
ce343ab 
…efoundation#452)

* fix(localization_error_monitor): fix build warning in Humble

* ci(pre-commit): autofix

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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@takayuki5168 @taikitanaka3 @yukkysaito