feat: migrating pointcloud types #6996

knzo25 · 2024-05-13T11:14:30Z

Description

This PR migrates the point types in autoware as per the discussions in the S/P WG.
*Note1: the nebula driver is already compatible with this new format with velodyne_points and pandar_points
*Note2: only the the nodes needed in sensing and perception were tested. The components in the sensing directory that are actually used in localization were not tested

Tests performed

Run autoware in the taxi and the output of centerpoint

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter Changes

Effects on system behavior

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Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

knzo25 · 2024-05-13T11:18:09Z

@tzhong518
Pointpainting does some sketchy pointcloud processing (I refer to the part that uses sensor_msgs::PointCloud2Modifier). Can you check that things are ok in this regard?

badai-nguyen · 2024-05-13T23:26:41Z

@knzo25 There is a conflict in perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp, could you fixed it?

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

…universe into feat/sensing_point_type

…e out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

…universe into feat/sensing_point_type

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Conflicts: perception/ground_segmentation/src/scan_ground_filter_nodelet.cpp sensing/pointcloud_preprocessor/include/pointcloud_preprocessor/outlier_filter/ring_outlier_filter_nodelet.hpp sensing/pointcloud_preprocessor/src/outlier_filter/ring_outlier_filter_nodelet.cpp

knzo25 · 2024-05-27T10:27:20Z

@badai-nguyen
Done

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

github-actions · 2024-06-27T13:18:38Z

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mitsudome-r · 2024-06-28T02:01:09Z

@knzo25 Thanks for the PR.

Are there any concerns from AWF that we must address before merging this?

As long as they are reviewed by the codeowners and tested properly. It should be fine to merge.
It would be better if you can make sure that the rosbag replay simulation in our official document works fine with the updated point type as well.

knzo25 · 2024-07-01T07:59:03Z

A PR for the sample rosbag was sent in Link
The counterpart for internal projects was sent in TIER IV INTERNAL LINK

knzo25 · 2024-07-03T01:46:08Z

@YoshiRi
It seems that I also need your review due to the changes in tier4_perception_launch

YoshiRi

LGTM

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

* feat: changed most of sensing to the new type Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: started applying changes to the perception stack Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: confirmed operation until centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: reverted to the original implementation of pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: forgot to push a header Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: also implemented the changes for the subsample filters that were out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: some point type changes were missing from the latest merge from main Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: removed unused code, added comments, and brought back a removed publish Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: added memory layout checks Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: updated documentation regarding the point types Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: fixed compilation due to moving the utilities files to the base library Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: separated the utilities functions due to a dependency issue * chore: forgot that perception also uses the filter class Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feature: adapted the undistortion tests to the new point type Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>

mitsudome-r · 2024-08-14T10:25:14Z

https://gist.github.com/mitsudome-r/cef28d3b8312e6a590cb6f577d47655a
Here's the code to convert the old pointcloud type to new pointcloud type

* feat: changed most of sensing to the new type Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: started applying changes to the perception stack Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: confirmed operation until centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: reverted to the original implementation of pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: forgot to push a header Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: also implemented the changes for the subsample filters that were out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: some point type changes were missing from the latest merge from main Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: removed unused code, added comments, and brought back a removed publish Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: replaced pointcloud_raw for pointcloud_raw_ex to avoid extra processing time in the drivers Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feat: added memory layout checks Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: updated documentation regarding the point types Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: added hyperlinks to the point definitions. will be valid only once the PR is merged Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * fix: fixed compilation due to moving the utilities files to the base library Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * chore: separated the utilities functions due to a dependency issue * chore: forgot that perception also uses the filter class Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> * feature: adapted the undistortion tests to the new point type Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com>

knzo25 added 4 commits May 10, 2024 02:38

feat: changed most of sensing to the new type

a11437d

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

chore: started applying changes to the perception stack

9ca55da

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

feat: confirmed operation until centerpoint

a3a8fcc

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

feat: reverted to the original implementation of pointpainting

1cfec28

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

knzo25 self-assigned this May 13, 2024

knzo25 requested review from amc-nu, badai-nguyen, kyoichi-sugahara, miursh, vividf, yukkysaito, ambroise-arm and angry-crab as code owners May 13, 2024 11:14

knzo25 added 2 commits May 17, 2024 03:23

chore: forgot to push a header

8a37f33

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

Merge branch 'feat/sensing_point_type' of github.com:knzo25/autoware.…

511b6d8

…universe into feat/sensing_point_type

knzo25 requested a review from YoshiRi as a code owner May 16, 2024 18:25

a-maumau mentioned this pull request May 17, 2024

fix(pointcloud preprocessor): fix ring outlier filter and concatenation to use PointXYZIRC #6870

Closed

7 tasks

knzo25 added 3 commits May 17, 2024 20:04

feat: also implemented the changes for the subsample filters that wer…

84b22cd

…e out of scope before Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

Merge branch 'feat/sensing_point_type' of github.com:knzo25/autoware.…

ce3ad79

…universe into feat/sensing_point_type

knzo25 requested review from kminoda, ktro2828 and tzhong518 as code owners May 27, 2024 10:25

Merge branch 'main' into feat/sensing_point_type

570be63

chore: separated the utilities functions due to a dependency issue

fec8ac6

SakodaShintaro mentioned this pull request Jun 26, 2024

feat(localization): add lidar_marker_localizer #5573

Merged

4 tasks

chore: forgot that perception also uses the filter class

afd46cd

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

Merge branch 'main' into feat/sensing_point_type

27e49f3

amadeuszsz mentioned this pull request Jun 28, 2024

feat(lidar_transfusion): intensity as uint8 and tests #7745

Merged

Merge branch 'main' into feat/sensing_point_type

820901d

This was referenced Jul 1, 2024

chore: remapped topics for the point type migration autowarefoundation/sample_sensor_kit_launch#94

Merged

chore: remapped topics for the point type migration tier4/aip_launcher#248

Merged

knzo25 mentioned this pull request Jul 3, 2024

chore: updated maintainers for the autoware_point_types package #7797

Merged

YoshiRi approved these changes Jul 3, 2024

View reviewed changes

knzo25 added 3 commits July 8, 2024 13:18

Merge branch 'main' into feat/sensing_point_type

fa6a0c2

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

Merge branch 'main' into feat/sensing_point_type

216b062

feature: adapted the undistortion tests to the new point type

cfc4715

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

knzo25 merged commit 54a0c57 into autowarefoundation:main Jul 9, 2024
28 of 30 checks passed

Aysenayilmaz mentioned this pull request Jul 10, 2024

AWSIM Labs not working after latest Autoware update autowarefoundation/AWSIM-Labs#114

Closed

xmfcx mentioned this pull request Jul 10, 2024

Unable to set the initial pose of the vehicle autowarefoundation/AWSIM-Labs#87

Closed

drwnz mentioned this pull request Jul 11, 2024

docs(sensing): update pointcloud type information autowarefoundation/autoware-documentation#588

Merged

4 tasks

Aysenayilmaz mentioned this pull request Jul 11, 2024

Pointcloud message type incompatibility with Autoware RobotecAI/RobotecGPULidar#313

Closed

Aysenayilmaz mentioned this pull request Jul 23, 2024

feat: add new pointcloud format autowarefoundation/AWSIM-Labs#122

Merged

4 tasks

knzo25 mentioned this pull request Jul 26, 2024

Vehicle can not move because steering is not controlable when stopped #4915

Closed

3 tasks

amadeuszsz mentioned this pull request Jul 31, 2024

clearly state and check assumptions on input data of pointcloud_preprocessor filters #3318

Closed

3 tasks

shmpwk mentioned this pull request Aug 20, 2024

revert: "feat(lidar_transfusion): update TransFusion-L model" tier4/autoware.universe#1478

Merged

TomohitoAndo mentioned this pull request Sep 14, 2024

feat: cherry pick point types update tier4/autoware.universe#1535

Merged

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feat: migrating pointcloud types #6996

feat: migrating pointcloud types #6996

knzo25 commented May 13, 2024

knzo25 commented May 13, 2024

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knzo25 commented May 27, 2024

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mitsudome-r commented Aug 14, 2024

feat: migrating pointcloud types #6996

feat: migrating pointcloud types #6996

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knzo25 commented May 13, 2024

Description

Related links

Tests performed

Notes for reviewers

Interface changes

ROS Topic Changes

ROS Parameter 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

knzo25 commented May 13, 2024

badai-nguyen commented May 13, 2024

knzo25 commented May 27, 2024

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