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fix: occ grid topic name #164

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taikitanaka3
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Signed-off-by: tanaka3 ttatcoder@outlook.jp

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  • Bug Fix

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Description

fix occupancy grid map topic name

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see topic info

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@tkimura4
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tkimura4 commented Jan 6, 2022

Maybe, /perception/occupancy_grid_map/map is true.

Somewhy, the parameter settings do not work correctly. It should be fixed. https://github.com/tier4/AutowareArchitectureProposal_launcher/blob/tier4/universe/perception_launch/launch/perception.launch.xml#L50-L56

(It has no launch_setup function. It seems to be the cause. )

@taikitanaka3
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taikitanaka3 commented Jan 6, 2022

@tkimura4
However it seems /perception/obstacle_segmentation/occupancy_grid is published

ros2 node info /perception/obstacle_segmentation/occupancy_grid_map_node 
/perception/obstacle_segmentation/occupancy_grid_map_node
  Subscribers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/obstacle_segmentation/concatenated/pointcloud: sensor_msgs/msg/PointCloud2
    /perception/obstacle_segmentation/pointcloud: sensor_msgs/msg/PointCloud2
    /perception/obstacle_segmentation/virtual_scan/laserscan: sensor_msgs/msg/LaserScan
  Publishers:
    /parameter_events: rcl_interfaces/msg/ParameterEvent
    /perception/obstacle_segmentation/occupancy_grid: nav_msgs/msg/OccupancyGrid
    /rosout: rcl_interfaces/msg/Log
  Service Servers:
    /perception/obstacle_segmentation/occupancy_grid_map_node/describe_parameters: rcl_interfaces/srv/DescribeParameters
    /perception/obstacle_segmentation/occupancy_grid_map_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
    /perception/obstacle_segmentation/occupancy_grid_map_node/get_parameters: rcl_interfaces/srv/GetParameters
    /perception/obstacle_segmentation/occupancy_grid_map_node/list_parameters: rcl_interfaces/srv/ListParameters
    /perception/obstacle_segmentation/occupancy_grid_map_node/set_parameters: rcl_interfaces/srv/SetParameters
    /perception/obstacle_segmentation/occupancy_grid_map_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
  Service Clients:

  Action Servers:

  Action Clients:

and there is occupancy_grid_map namespace node

ros2 topic list |grep perception
/api/iv_msgs/perception/object_recognition/tracking/objects
/perception/object_recognition/detection/labeled_clusters
/perception/object_recognition/detection/objects
/perception/object_recognition/detection/objects_with_feature
/perception/object_recognition/objects
/perception/object_recognition/prediction/objects_path_markers
/perception/object_recognition/tracking/objects
/perception/obstacle_segmentation/concatenated/pointcloud
/perception/obstacle_segmentation/occupancy_grid
/perception/obstacle_segmentation/pointcloud
/perception/obstacle_segmentation/virtual_scan/laserscan
/perception/obstacle_segmentation/virtual_scan/pointcloud
/perception/obstacle_segmentation/virtual_scan/ray
/perception/obstacle_segmentation/virtual_scan/stixel
/perception/occupancy_grid_map/map
/perception/occupancy_grid_map/map_updates
/perception/traffic_light_recognition/debug/rois
/perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
/perception/traffic_light_recognition/traffic_signals

@taikitanaka3
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@yukkysaito
Do you know what is the final output of occupancy grid map topic name?

@tkimura4
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tkimura4 commented Jan 6, 2022

@taikitanaka3

/perception/obstacle_segmentation/occupancy_grid is published

yes. I checked it.

The issue is that the following parameter settings do not work correctly now.
https://github.com/tier4/AutowareArchitectureProposal_launcher/blob/tier4/universe/perception_launch/launch/perception.launch.xml#L50-L56

These subscribe topics are also wrong. It should be also fixed.

/perception/obstacle_segmentation/concatenated/pointcloud: sensor_msgs/msg/PointCloud2
/perception/obstacle_segmentation/pointcloud: sensor_msgs/msg/PointCloud2

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
@taikitanaka3 taikitanaka3 force-pushed the fix-occupnacy-grid-topic-name branch from 4872f7f to 7a5ffcd Compare January 6, 2022 09:56
@taikitanaka3
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taikitanaka3 commented Jan 6, 2022

@tkimura4
So I fixed here. cc: @yukkysaito
image
tested in Psim
image

@yukkysaito
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@taikitanaka3
I think the topic name in input is correct before the change.

        <arg name="input/obstacle_pointcloud" value="/perception/obstacle_segmentation/single_frame/pointcloud_raw" />
        <arg name="input/raw_pointcloud" value="/sensing/lidar/concatenated/pointcloud" />

The output should have the following name

/perception/occupancy_grid_map/map

@taikitanaka3
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taikitanaka3 commented Jan 6, 2022

@yukkysaito

I think the topic name in input is correct before the change.

However I can't see any occupancy grid map in /perception/occupancy_grid_map/map so there is still some problem in launch.py

I can't echo topics below

/perception/obstacle_segmentation/single_frame/pointcloud_raw
/sensing/lidar/concatenated/pointcloud

And it seems some pub/sub topics changes from autoware.iv
https://github.com/tier4/autoware.iv/blob/5d8dff0db51634f0c42d2a3e87ca423fbee84348/sensing/preprocessor/pointcloud/laserscan_to_occupancy_grid_map/launch/laserscan_to_occupancy_grid_map.launch.py#L125

@taikitanaka3
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This PR is ncessary instead of this PR
autowarefoundation/autoware.universe#242

j4tfwm6z pushed a commit that referenced this pull request Feb 1, 2022
* Add option to select lidar detection model (#450) (#155)

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

* Fix avoidance param (#158)

* disable oclusion spot (#159)

* add imu to state_monitor (#161)

* Add respawn for imu (#164)

Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: wep21 <border_goldenmarket@yahoo.co.jp>
@taikitanaka3 taikitanaka3 deleted the fix-occupnacy-grid-topic-name branch April 6, 2022 00:40
kazuki527 pushed a commit to kazuki527/autoware_launch that referenced this pull request Apr 25, 2022
takayuki5168 pushed a commit that referenced this pull request May 26, 2022
kminoda added a commit to kminoda/tier4.autoware_launch that referenced this pull request Jan 23, 2023
Signed-off-by: kminoda <koji.minoda@tier4.jp>

Signed-off-by: kminoda <koji.minoda@tier4.jp>
takayuki5168 pushed a commit that referenced this pull request Mar 13, 2023
…#164)

chore: behavior velocity update system delay time for emergency brake 

this param is for occlusion spot module to consider delay time
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3 participants