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feat(autoware_launch): enable pose initialization while running (only for sim) #243

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merged 9 commits into from
Mar 14, 2023
Merged

feat(autoware_launch): enable pose initialization while running (only for sim) #243

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4a7b152
feat(autoware_launch): enable pose initialization while running (only…
kminoda Mar 9, 2023
55bfab5
style(pre-commit): autofix
pre-commit-ci[bot] Mar 9, 2023
6dbb895
update localization param
kminoda Mar 9, 2023
5649c9b
both logsim and psim params
kminoda Mar 10, 2023
7a962a8
only one pose_initializer_param_path arg
kminoda Mar 10, 2023
130d12e
style(pre-commit): autofix
pre-commit-ci[bot] Mar 10, 2023
c865d3b
use two param files for pose_initializer
kminoda Mar 10, 2023
b556f2c
style(pre-commit): autofix
pre-commit-ci[bot] Mar 10, 2023
16cd92f
debug
kminoda Mar 10, 2023
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6 changes: 6 additions & 0 deletions autoware_launch/config/localization/pose_initializer.logging_simulator.param.yaml
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@@ -0,0 +1,6 @@
/**:
ros__parameters:
gnss_enabled: true
ndt_enabled: true
ekf_enabled: true
stop_check_enabled: false
6 changes: 6 additions & 0 deletions autoware_launch/config/localization/pose_initializer.param.yaml
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@@ -0,0 +1,6 @@
/**:
ros__parameters:
gnss_enabled: true
ndt_enabled: true
ekf_enabled: true
stop_check_enabled: true
6 changes: 6 additions & 0 deletions autoware_launch/config/localization/pose_initializer.planning_simulator.param.yaml
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@@ -0,0 +1,6 @@
/**:
ros__parameters:
gnss_enabled: false
ndt_enabled: false
ekf_enabled: false
stop_check_enabled: false
26 changes: 26 additions & 0 deletions autoware_launch/config/localization/pose_initializer_common.param.yaml
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@@ -0,0 +1,26 @@
/**:
ros__parameters:
gnss_pose_timeout: 3.0 # [sec]
stop_check_duration: 3.0 # [sec]

# from gnss
gnss_particle_covariance:
[
1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.01, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.01, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 10.0,
]

# output
output_pose_covariance:
[
1.0, 0.0, 0.0, 0.0, 0.0, 0.0,
0.0, 1.0, 0.0, 0.0, 0.0, 0.0,
0.0, 0.0, 0.01, 0.0, 0.0, 0.0,
0.0, 0.0, 0.0, 0.01, 0.0, 0.0,
0.0, 0.0, 0.0, 0.0, 0.01, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.2,
]
28 changes: 14 additions & 14 deletions autoware_launch/config/system/component_state_monitor/topics.yaml
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@@ -1,5 +1,5 @@
- module: map
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: launch
args:
node_name_suffix: vector_map
Expand All @@ -12,7 +12,7 @@
timeout: 0.0

- module: map
mode: [online]
mode: [online, logging_simulation]
type: launch
args:
node_name_suffix: pointcloud_map
Expand All @@ -25,7 +25,7 @@
timeout: 0.0

- module: localization
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: initialpose3d
Expand All @@ -38,7 +38,7 @@
timeout: 0.0

- module: localization
mode: [online]
mode: [online, logging_simulation]
type: autonomous
args:
node_name_suffix: pose_twist_fusion_filter_pose
Expand All @@ -51,7 +51,7 @@
timeout: 1.0

- module: perception
mode: [online]
mode: [online, logging_simulation]
type: launch
args:
node_name_suffix: obstacle_segmentation_pointcloud
Expand All @@ -64,7 +64,7 @@
timeout: 1.0

- module: perception
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: object_recognition_objects
Expand All @@ -77,7 +77,7 @@
timeout: 1.0

- module: planning
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: mission_planning_route
Expand All @@ -90,7 +90,7 @@
timeout: 0.0

- module: planning
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: scenario_planning_trajectory
Expand All @@ -103,7 +103,7 @@
timeout: 1.0

- module: control
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: trajectory_follower_control_cmd
Expand All @@ -116,7 +116,7 @@
timeout: 1.0

- module: control
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: control_command_control_cmd
Expand All @@ -129,7 +129,7 @@
timeout: 1.0

- module: vehicle
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: vehicle_status_velocity_status
Expand All @@ -142,7 +142,7 @@
timeout: 1.0

- module: vehicle
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: vehicle_status_steering_status
Expand All @@ -155,7 +155,7 @@
timeout: 1.0

- module: system
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: launch
args:
node_name_suffix: system_emergency_control_cmd
Expand All @@ -168,7 +168,7 @@
timeout: 1.0

- module: localization
mode: [online, planning_simulation]
mode: [online, logging_simulation, planning_simulation]
type: autonomous
args:
node_name_suffix: transform_map_to_base_link
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9 changes: 9 additions & 0 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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@@ -1,5 +1,12 @@
<?xml version="1.0"?>
<launch>
<let name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml" if="$(eval &quot;'$(var system_run_mode)'=='online'&quot;)"/>
<let
name="pose_initializer_param_path"
value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.logging_simulator.param.yaml"
if="$(eval &quot;'$(var system_run_mode)'=='logging_simulation'&quot;)"
/>

<include file="$(find-pkg-share tier4_localization_launch)/launch/localization.launch.xml">
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
Expand All @@ -9,5 +16,7 @@
<arg name="random_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/random_downsample_filter.param.yaml"/>
<arg name="ndt_scan_matcher_param_path" value="$(find-pkg-share autoware_launch)/config/localization/ndt_scan_matcher.param.yaml"/>
<arg name="localization_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
<arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
<arg name="pose_initializer_param_path" value="$(var pose_initializer_param_path)"/>
</include>
</launch>
2 changes: 2 additions & 0 deletions autoware_launch/launch/components/tier4_simulator_component.launch.xml
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Expand Up @@ -30,5 +30,7 @@
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>
<arg name="pose_initializer_common_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer_common.param.yaml"/>
<arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.planning_simulator.param.yaml"/>
</include>
</launch>
2 changes: 1 addition & 1 deletion autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -56,7 +56,7 @@
<arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
<!-- System -->
<arg name="launch_system" value="$(var system)"/>
<arg name="system_run_mode" value="online"/>
<arg name="system_run_mode" value="logging_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<!-- Map -->
Expand Down