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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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4 changes: 2 additions & 2 deletions autoware_launch/config/localization/ndt_scan_matcher.param.yaml
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Expand Up @@ -17,7 +17,7 @@
step_size: 0.1

# The ND voxel grid resolution
resolution: 2.0
resolution: 1.0

# The number of iterations required to calculate alignment
max_iterations: 30
Expand All @@ -38,7 +38,7 @@
initial_estimate_particles_num: 100

# Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec]
initial_pose_timeout_sec: 1.0
initial_pose_timeout_sec: 2.0

# Tolerance of distance difference between two initial poses used for linear interpolation. [m]
initial_pose_distance_tolerance_m: 10.0
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30 changes: 30 additions & 0 deletions autoware_launch/config/localization/pose_initializer.param.yaml
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@@ -0,0 +1,30 @@
/**:
ros__parameters:
gnss_enabled: true
gnss_pose_timeout: 3.0 # [sec]
ndt_enabled: true
ekf_enabled: true
stop_check_enabled: true
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,
]
30 changes: 30 additions & 0 deletions autoware_launch/config/localization/pose_initializer.simulator.param.yaml
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@@ -0,0 +1,30 @@
/**:
ros__parameters:
gnss_enabled: true
gnss_pose_timeout: 3.0 # [sec]
ndt_enabled: true
ekf_enabled: true
stop_check_enabled: false
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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Original file line number Diff line number Diff line change
@@ -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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3 changes: 3 additions & 0 deletions autoware_launch/launch/components/tier4_localization_component.launch.xml
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Expand Up @@ -3,11 +3,14 @@
<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="$(var pointcloud_container_name)"/>
<arg name="run_mode" value="$(var system_run_mode)"/>

<arg name="crop_box_filter_measurement_range_param_path" value="$(find-pkg-share autoware_launch)/config/localization/crop_box_filter_measurement_range.param.yaml"/>
<arg name="voxel_grid_downsample_filter_param_path" value="$(find-pkg-share autoware_launch)/config/localization/voxel_grid_filter.param.yaml"/>
<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="$(find-pkg-share autoware_launch)/config/localization/localization_error_monitor.param.yaml"/>
<arg name="pose_initializer_param_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.param.yaml"/>
<arg name="pose_initializer_param_simulator_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.simulator.param.yaml"/>
</include>
</launch>
1 change: 1 addition & 0 deletions autoware_launch/launch/components/tier4_simulator_component.launch.xml
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Expand Up @@ -30,5 +30,6 @@
name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"
value="$(find-pkg-share autoware_launch)/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml"
/>
<arg name="pose_initializer_param_simulator_path" value="$(find-pkg-share autoware_launch)/config/localization/pose_initializer.simulator.param.yaml"/>
</include>
</launch>
2 changes: 1 addition & 1 deletion autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -56,7 +56,7 @@
<arg name="launch_vehicle_interface" value="$(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 -->
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