edge_auto_launcher. update launch files to match new autoware univers…

…e package

Signed-off-by: amc-nu <[email protected]>

edge_auto_launch/config/centerpoint.param.yaml

@@ -1,15 +1,18 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
-    voxel_size: [0.32, 0.32, 8.0]
-    downsample_factor: 1
-    encoder_in_feature_size: 9
+    cloud_capacity: 2000000
+    model_params:
+        class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+        point_feature_size: 4
+        max_voxel_size: 40000
+        point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0]
+        voxel_size: [0.32, 0.32, 8.0]
+        downsample_factor: 1
+        encoder_in_feature_size: 9
     # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    post_process_params:
+        circle_nms_dist_threshold: 0.5
+        iou_nms_target_class_names: ["CAR"]
+        iou_nms_search_distance_2d: 10.0
+        iou_nms_threshold: 0.1
+        yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

edge_auto_launch/config/centerpoint_tiny.param.yaml

@@ -1,15 +1,18 @@
 /**:
   ros__parameters:
-    class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
-    point_feature_size: 4
-    max_voxel_size: 40000
-    point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0]
-    voxel_size: [0.32, 0.32, 6.0]
-    downsample_factor: 2
-    encoder_in_feature_size: 9
+    cloud_capacity: 2000000
+    model_params:
+        class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+        point_feature_size: 4
+        max_voxel_size: 40000
+        point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0]
+        voxel_size: [0.32, 0.32, 6.0]
+        downsample_factor: 2
+        encoder_in_feature_size: 9
     # post-process params
-    circle_nms_dist_threshold: 0.5
-    iou_nms_target_class_names: ["CAR"]
-    iou_nms_search_distance_2d: 10.0
-    iou_nms_threshold: 0.1
-    yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]
+    post_process_params:
+        circle_nms_dist_threshold: 0.5
+        iou_nms_target_class_names: ["CAR"]
+        iou_nms_search_distance_2d: 10.0
+        iou_nms_threshold: 0.1
+        yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

edge_auto_launch/config/roi_sync.param.yaml

@@ -3,3 +3,11 @@
     input_offset_ms: [50.0, 50.0]
     timeout_ms: 70.0
     match_threshold_ms: 50.0
+    image_buffer_size: 15
+    debug_mode: false
+    filter_scope_min_x: -100.0
+    filter_scope_min_y: -100.0
+    filter_scope_min_z: -100.0
+    filter_scope_max_x: 100.0
+    filter_scope_max_y: 100.0
+    filter_scope_max_z: 100.0

edge_auto_launch/config/visualization/perception_at128_sample.rviz

@@ -109,7 +109,7 @@ Visualization Manager:
       CYCLIST:
         Alpha: 0.30000001192092896
         Color: 255; 255; 255
-      Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+      Class: autoware_perception_rviz_plugin/DetectedObjects
       Display Acceleration: true
       Display Label: true
       Display PoseWithCovariance: true
@@ -159,7 +159,7 @@ Visualization Manager:
       CYCLIST:
         Alpha: 1
         Color: 30; 144; 255
-      Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+      Class: autoware_perception_rviz_plugin/DetectedObjects
       Display Acceleration: true
       Display Label: true
       Display PoseWithCovariance: true

edge_auto_launch/config/visualization/perception_xt32_sample.rviz

@@ -110,7 +110,7 @@ Visualization Manager:
       CYCLIST:
         Alpha: 0.30000001192092896
         Color: 255; 255; 255
-      Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+      Class: autoware_perception_rviz_plugin/DetectedObjects
       Display Acceleration: true
       Display Label: true
       Display PoseWithCovariance: true
@@ -160,7 +160,7 @@ Visualization Manager:
       CYCLIST:
         Alpha: 1
         Color: 30; 144; 255
-      Class: autoware_auto_perception_rviz_plugin/DetectedObjects
+      Class: autoware_perception_rviz_plugin/DetectedObjects
       Display Acceleration: true
       Display Label: true
       Display PoseWithCovariance: true

edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml

@@ -31,7 +31,7 @@
   <group>
     <push-ros-namespace namespace="$(var lidar_frame)/$(var camera_frame)"/>
     <!-- image_decompressor -->
-    <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
+    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
       <remap from="decompressor/input/compressed_image" to="$(var compressed_image_topic)"/>
       <remap from="decompressor/output/raw_image" to="image_raw"/>
     </node>
@@ -44,7 +44,7 @@
       <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
       <arg name="image_topic" value="image_raw"/>
     </include>
-    <!-- intaractive_calibrator -->
+    <!-- interactive -->
     <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
       <remap from="pointcloud" to="$(var pointcloud_topic)"/>
       <remap from="image" to="$(var compressed_image_topic)"/>
@@ -65,6 +65,6 @@
   <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera0/camera_link" />
   <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera1/camera_link" />
 
-  <!-- visuzalization -->
+  <!-- visualization -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)"/>
 </launch>

edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml

@@ -29,7 +29,7 @@
   <group>
     <push-ros-namespace namespace="$(var lidar_frame)/$(var camera_frame)"/>
     <!-- image_decompressor -->
-    <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
+    <node pkg="autoware_image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
       <remap from="decompressor/input/compressed_image" to="$(var compressed_image_topic)"/>
       <remap from="decompressor/output/raw_image" to="image_raw"/>
     </node>
@@ -42,7 +42,7 @@
       <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
       <arg name="image_topic" value="image_raw"/>
     </include>
-    <!-- intaractive_calibrator -->
+    <!-- interactive_calibrator -->
     <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
       <remap from="pointcloud" to="$(var pointcloud_topic)"/>
       <remap from="image" to="$(var compressed_image_topic)"/>
@@ -63,6 +63,6 @@
   <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera0/camera_link" />
   <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy 0.0 --qz 0.0 --qw 1.0 --frame-id lidar --child-frame-id camera1/camera_link" />
 
-  <!-- visuzalization -->
+  <!-- visualization -->
   <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)"/>
 </launch>

edge_auto_launch/launch/component/crop_box_filter.launch.xml

@@ -14,7 +14,7 @@
 
   <let name="empty_container_is_specified" value="$(eval 'not &quot;$(var container_name)&quot;')" />
   <group if="$(var empty_container_is_specified)">
-    <node pkg="pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter">
+    <node pkg="autoware_pointcloud_preprocessor" exec="crop_box_filter_node" name="crop_box_filter">
       <remap from="input" to="$(var input/pointcloud)"/>
       <remap from="output" to="$(var output/pointcloud)"/>
       <param name="input_frame" value="$(var frame_id)"/>
@@ -31,7 +31,7 @@
 
   <group unless="$(var empty_container_is_specified)">
     <load_composable_node target="$(var container_name)">
-      <composable_node pkg="pointcloud_preprocessor" plugin="pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter">
+      <composable_node pkg="autoware_pointcloud_preprocessor" plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent" name="crop_box_filter">
         <param name="input_frame" value="$(var frame_id)"/>
         <param name="output_frame" value="$(var frame_id)"/>
         <param name="min_x" value="$(var min_x)"/>

edge_auto_launch/launch/component/extrinsic_tag_based_calibrator.launch.xml

@@ -7,7 +7,7 @@
   <arg name="lidar_model"/>
   <arg name="calibration_mode" default="automatic"/>
 
-  <include file="$(find-pkg-share extrinsic_tag_based_calibrator)/launch/apriltag_16h5.launch.py">
+  <include file="$(find-pkg-share tag_based_pnp_calibrator)/launch/apriltag_16h5.launch.py">
     <arg name="image_topic" value="$(var image_topic)"/>
     <arg name="camera_info_topic" value="$(var camera_info_topic)"/>
   </include>
@@ -16,7 +16,7 @@
     <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
   </include>
 
-  <node pkg="extrinsic_tag_based_calibrator" exec="extrinsic_tag_based_calibrator" name="extrinsic_tag_based_calibrator_node" output="screen">
+  <node pkg="tag_based_pnp_calibrator" exec="tag_based_pnp_calibrator" name="tag_based_pnp_calibrator" output="screen">
     <param name="calib_rate" value="10.0"/>
     <param name="parent_frame" value="$(var parent_frame)"/>
     <param name="child_frame" value="$(var child_frame)"/>
@@ -29,7 +29,7 @@
     <param name="max_tag_distance" value="20.0"/>
     <param name="max_allowed_homography_error" value="0.5"/>
     <param name="dynamics_model" value="static"/>
-    <!--constant_velicity,static-->
+    <!--constant_velocity,static-->
     <param name="calibration_crossvalidation_training_ratio" value="0.7"/>
     <param name="calibration_convergence_min_pairs" value="9"/>
     <param name="calibration_convergence_min_area_percentage" value="0.1"/>

edge_auto_launch/launch/component/hesai_at128.launch.xml

@@ -17,7 +17,15 @@
   <arg name="cloud_max_angle" default="360" />
   <arg name="dual_return_distance_threshold" default="0.1"/>
   <arg name="diag_span" default="1000"/>
-  <arg name="setup_sensor" default="True"/>
+  <arg name="setup_sensor" default="False"/>
+
+  <arg name="ptp_profile" default="1588v2" description="1588v2|802.1as|automotive"/>
+  <arg name="ptp_domain" default="0" description="PTP Domain [0-127]."/>
+  <arg name="ptp_transport_type" default="UDP" description="1588v2 supports 'UDP' or 'L2', other profiles only L2 (HW)"/>
+  <arg name="ptp_switch_type" default="NON_TSN" description="For automotive profile,'TSN' or 'NON_TSN'"/>
+  <arg name="delay_hw_ms" default="1000" description="hw driver startup delay in milliseconds."/>
+  <arg name="delay_monitor_ms" default="2000" description="hw monitor startup delay in milliseconds."/>
+  <arg name="retry_hw" default="True" description="hw driver startup retry (false when using pcap)."/>
 
   <group>
     <node_container pkg="rclcpp_components" exec="component_container" name="nebula_at128_node" namespace="/">
@@ -50,24 +58,12 @@
         <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
         <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
         <param name="setup_sensor" value="$(var setup_sensor)"/>
-        <extra_arg name="use_intra_process_comms" value="true"/>
-      </composable_node>
-      <composable_node pkg="nebula_ros" plugin="HesaiHwMonitorRosWrapper" name="hesai_hw_monitor_ros_wrapper_node" namespace="$(var namespace)">
-        <param name="sensor_model" value="$(var sensor_model)"/>
-        <param name="return_mode" value="$(var return_mode)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="scan_phase" value="$(var scan_phase)"/>
-        <param name="sensor_ip" value="$(var sensor_ip)"/>
-        <param name="frame_id" value="$(var frame_id)"/>
-        <param name="host_ip" value="$(var host_ip)"/>
-        <param name="data_port" value="$(var data_port)"/>
-        <param name="gnss_port" value="$(var gnss_port)"/>
-        <param name="packet_mtu_size" value="$(var packet_mtu_size)"/>
-        <param name="rotation_speed" value="$(var rotation_speed)"/>
-        <param name="cloud_min_angle" value="$(var cloud_min_angle)"/>
-        <param name="cloud_max_angle" value="$(var cloud_max_angle)"/>
-        <param name="diag_span" value="$(var diag_span)"/>
-        <param name="dual_return_distance_threshold" value="$(var dual_return_distance_threshold)"/>
+        <param name="delay_hw_ms" value="$(var delay_hw_ms)"/>
+        <param name="retry_hw" value="$(var retry_hw)"/>
+        <param name="ptp_profile" value="$(var ptp_profile)"/>
+        <param name="ptp_domain" value="$(var ptp_domain)"/>
+        <param name="ptp_transport_type" value="$(var ptp_transport_type)"/>
+        <param name="ptp_switch_type" value="$(var ptp_switch_type)"/>
         <extra_arg name="use_intra_process_comms" value="true"/>
       </composable_node>
     </load_composable_node>

edge_auto_launch/launch/component/lidar_centerpoint.launch.xml

@@ -2,24 +2,26 @@
   <arg name="input/pointcloud" default="input/pointcloud"/>
   <arg name="output/objects" default="output/objects"/>
   <arg name="model_name" default="centerpoint_tiny" description="options: `centerpoint` or `centerpoint_tiny`"/>
-  <arg name="model_path" default="$(find-pkg-share lidar_centerpoint)/data"/>
+  <arg name="model_path" default="$(env HOME)/autoware_data/lidar_centerpoint"/>
   <arg name="model_param_path" default="$(find-pkg-share edge_auto_launch)/config/$(var model_name).param.yaml"/>
   <arg name="class_remapper_param_path" default="$(find-pkg-share edge_auto_launch)/config/detection_class_remapper.param.yaml"/>
   <arg name="score_threshold" default="0.35"/>
   <arg name="densification_world_frame_id" default="map"/>
   <arg name="densification_num_past_frames" default="1"/>
   <arg name="has_twist" default="false"/>
+  <arg name="has_variance" default="false"/>
   <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
 
   <group>
-    <node pkg="lidar_centerpoint" exec="lidar_centerpoint_node" name="lidar_centerpoint" output="screen">
+    <node pkg="autoware_lidar_centerpoint" exec="autoware_lidar_centerpoint_node" name="autoware_lidar_centerpoint" output="screen">
       <remap from="~/input/pointcloud" to="$(var input/pointcloud)"/>
       <remap from="~/output/objects" to="$(var output/objects)"/>
-      <param name="score_threshold" value="$(var score_threshold)"/>
-      <param name="densification_world_frame_id" value="$(var densification_world_frame_id)"/>
-      <param name="densification_num_past_frames" value="$(var densification_num_past_frames)"/>
+      <param name="post_process_params.score_threshold" value="$(var score_threshold)"/>
+      <param name="model_params.has_twist" value="$(var has_twist)"/>
+      <param name="model_params.has_variance" value="$(var has_twist)"/>
+      <param name="densification_params.world_frame_id" value="$(var densification_world_frame_id)"/>
+      <param name="densification_params.num_past_frames" value="$(var densification_num_past_frames)"/>
       <param name="trt_precision" value="fp16"/>
-      <param name="has_twist" value="$(var has_twist)"/>
       <param name="encoder_onnx_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).onnx"/>
       <param name="encoder_engine_path" value="$(var model_path)/pts_voxel_encoder_$(var model_name).engine"/>
       <param name="head_onnx_path" value="$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx"/>

edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml

@@ -19,7 +19,7 @@
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/rois1" to="$(var input/rois1)"/>
     <set_remap if="$(eval &quot;'$(var input_rois_number)' >= '2' &quot;)" from="input/camera_info1" to="$(var input/camera_info1)"/>
 
-    <node pkg="image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
+    <node pkg="autoware_image_projection_based_fusion" exec="roi_detected_object_fusion_node" name="roi_detected_object_fusion" output="screen">
       <param name="rois_number" value="$(var input/rois_number)"/>
       <param from="$(var sync_param_path)"/>
       <remap from="input" to="$(var input/objects)"/>

edge_auto_launch/launch/component/scan_ground_filter.launch.xml

@@ -6,7 +6,7 @@
   <group>
     <push-ros-namespace namespace="ground_segmentation"/>
     <node_container pkg="rclcpp_components" exec="component_container" name="container" namespace="">
-      <composable_node pkg="ground_segmentation" plugin="ground_segmentation::ScanGroundFilterComponent" name="ground_segmentation" namespace="">
+      <composable_node pkg="autoware_ground_segmentation" plugin="autoware::ground_segmentation::ScanGroundFilterComponent" name="ground_segmentation" namespace="">
         <remap from="input" to="$(var input/pointcloud)"/>
         <remap from="output" to="$(var output/pointcloud)"/>
         <param from="$(var param_path)"/>

edge_auto_launch/launch/component/voxel_downsample_filter.launch.xml

@@ -6,7 +6,7 @@
   <arg name="voxel_size_z" default="0.1"/>
 
   <group>
-    <node pkg="pointcloud_preprocessor" exec="voxel_grid_downsample_filter_node" name="voxel_downsample_filter">
+    <node pkg="autoware_pointcloud_preprocessor" exec="voxel_grid_downsample_filter_node" name="voxel_downsample_filter">
       <remap from="input" to="$(var input/pointcloud)"/>
       <remap from="output" to="$(var output/pointcloud)"/>
       <param name="voxel_size_x" value="$(var voxel_size_x)"/>

edge_auto_launch/launch/perception_at128_sample.launch.xml

@@ -8,7 +8,7 @@
   <arg name="sensor_height" default="1.0"/>
 
   <!-- vehicle_info -->
-  <include file="$(find-pkg-share vehicle_info_util)/launch/vehicle_info.launch.py">
+  <include file="$(find-pkg-share autoware_vehicle_info_utils)/launch/vehicle_info.launch.py">
     <arg name="vehicle_info_param_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/vehicle_info.param.yaml"/>
   </include>
 

edge_auto_launch/launch/perception_xt32_sample.launch.xml

@@ -55,7 +55,7 @@
           <arg name="input/pointcloud" value="/perception/obstacle_segmentation/pointcloud"/>
           <arg name="output/objects" value="clusters"/>
         </include>
-        <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
+        <include file="$(find-pkg-share autoware_shape_estimation)/launch/shape_estimation.launch.xml">
           <arg name="input/objects" value="clusters"/>
           <arg name="output/objects" value="objects_with_feature"/>
           <arg name="node_name" value="shape_estimation"/>

edge_auto_launch/package.xml

@@ -10,22 +10,24 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
-  <exec_depend>autoware_auto_perception_rviz_plugin</exec_depend>
+  <exec_depend>autoware_perception_rviz_plugin</exec_depend>
+  <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>detected_object_feature_remover</exec_depend>
   <exec_depend>euclidean_cluster</exec_depend>
   <exec_depend>extrinsic_calibration_manager</exec_depend>
   <exec_depend>extrinsic_manual_calibrator</exec_depend>
-  <exec_depend>extrinsic_tag_based_calibrator</exec_depend>
-  <exec_depend>ground_segmentation</exec_depend>
+  <exec_depend>tag_based_pnp_calibrator</exec_depend>
+  <exec_depend>autoware_ground_segmentation</exec_depend>
   <exec_depend>intrinsic_camera_calibrator</exec_depend>
-  <exec_depend>lidar_centerpoint</exec_depend>
+  <exec_depend>autoware_lidar_centerpoint</exec_depend>
   <exec_depend>nebula_sensor_driver</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <exec_depend>shape_estimation</exec_depend>
-  <exec_depend>vehicle_info_util</exec_depend>
-  <exec_depend>image_transport_decompressor</exec_depend>
+  <exec_depend>autoware_shape_estimation</exec_depend>
+  <exec_depend>autoware_vehicle_info_utils</exec_depend>
+  <exec_depend>autoware_image_transport_decompressor</exec_depend>
   <exec_depend>individual_params</exec_depend>
-  <exec_depend>image_projection_based_fusion</exec_depend>
+  <exec_depend>autoware_image_projection_based_fusion</exec_depend>
+  <exec_depend>sensor_calibration_tools</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>