feat: update record classes for CoMLOPs format

[ktro2828]

Description

This PR includes following changes:

1. Update fields of ego_pose and store data recorded by INS
2. Add support of generating of vehicle_state.json

Configuration updates

As described in config/convert_comlops_rosbag2_to_non_annotated_t4_sample.yaml, please edit fields in conversion as follows:

conversion:
  ...
  with_ins: true            # whether to use INS messages as a ego state instead of `/tf`
  with_vehicle_status: true # whether to generate `vehicle_state.json`

EgoPose

• If with_ins=True the converter initializes INSHandler and load ego poses using odometry, imu and nav_sat_fix instead of /tf message.
  • INSHandler retrieves an ego state interpolated by linear at the corresponding timestamp.

The sample output of ego_pose.json is as below:

    {
        "token": "082008187ebfca8a25c9ce8a500fb2c3",
        "translation": [
            -6.2490851223989035,
            -3.0805003909970616,
            -2.4697036630417264
        ],
        "rotation": [
            4.329780281177467e-17,
            0.7071067811865476,
            0.7071067811865475,
            4.329780281177466e-17
        ],
        "timestamp": 1724306789117423,
        "twist": [
            0.0,
            0.0,
            0.0,
            0.0,
            0.0,
            0.0
        ],
        "acceleration": [
            0.11715737026959112,
            -0.9582391259005323,
            -9.723479226352445
        ],
        "geocoordinate": [
            35.624468375999996,
            139.74287536399999,
            61.35459899902344
        ]
    },

VechileState

• If with_vechile_status=True, the converter initializes VehicleStatusHandler and load certain vehicle states.
  • Note that, currently, any records in vehicle_state.json are not associated with the other records such as sample.json.

The sample output of vehicle_state.json is as below:

    {
        "token": "269572c280bd5cf9630ca542e6a60185",
        "timestamp": 1724306784277396,
        "accel_pedal": 0.0,
        "brake_pedal": 1.0,
        "steer_pedal": 0.6063521901837905,
        "steering_tire_angle": 0.6063522100448608,
        "steering_wheel_angle": 9.291000366210938,
        "shift_state": "PARK",
        "indicators": {
            "left": "off",
            "right": "on",
            "hazard": "off"
        },
        "additional_info": {
            "speed": 0.0
        }
    },

How to review

How to test

test data

test command

1. Setting up the environment

# Added `ros-${ROS_DISTRO}-tf-transformations`
sudo apt install -y ros-${ROS_DISTRO}-sensor-msgs-py ros-${ROS_DISTRO}-rosbag2-storage-mcap ros-${ROS_DISTRO}-radar-msgs ros-${ROS_DISTRO}-tf-transformations

mkdir src -p && vcs import src < build_depends.repos

# Added `oxts_msgs` and `vehicle_msgs`
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to autoware_auto_perception_msgs autoware_perception_msgs tier4_perception_msgs oxts_msgs vehicle_msgs
source ./install/setup.bash

2. After editing input_base in the config/convert_comlops_rosbag2_to_non_annotated_t4_sample.yaml, run following command:

$ python3 -m perception_dataset.convert --config config/convert_comlops_rosbag2_to_non_annotated_t4_sample.yaml

Reference

Notes for reviewer

[ktro2828]

TODO List

- [ ] Convert the unit of angles in INS from degree to rad

• Resolve the coordinates origin of twists and accelerations, w.r.t local or global
  • According to nuplan, it looks better to use local coords: https://nuplan-devkit.readthedocs.io/en/latest/nuplan_schema.html
• Check the accuracy of twists and accelerations

[miursh]

@ktro2828
About the INS unit, I will update the driver code. so there is no need to support unit conversion here.

[ktro2828]

NOTE
Updates status in a093a78

• For linear/angular velocity, use data in odometry message without any transformation
• For acceleration, use data in imu message without any transformation
  • As future updates, it would be better to consider imu bias

[ktro2828]

@miursh
Here is my script to check data: TIER IV INTERNAL LINK