feat(localization): add a new localization package `ar_tag_based_localizer` #4347

SakodaShintaro · 2023-07-20T10:04:28Z

Description

This pull request adds an AR-Tag based self-localization package.

Tests performed

This new package was evaluated using a specific set of rosbag, pcd_map, and lanelet2_map.

For the protection of personal information, the image data in the sample data is blurred except for AR-Tags.

In summary, to compare with NDT,

Condition	Mean Error (m)
Twist Only	0.729
Twist + AR-Tag Based Localizer	0.433

The table shows that using the AR-Tag Based Localizer enables more accurate self-position estimation than using only twist in ekf_localizer.
The results with the AR-Tag Based Localizer also have a large discrepancy compared to the NDT, but this is thought to be due to the lack of IMU data in the rosbag data.

Notes for reviewers

Please refer to the README.md for more details about ar_tag_based_localizer package.

Interface changes

There are no interface changes other than the added packages.

Effects on system behavior

The AR-Tag Based Localizer node will not start unless the arguments are changed. In other words, it does not affect the default Autoware behavior.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

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The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

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The PR follows the pull request guidelines.
The PR has been properly tested.
The PR has been reviewed by the code owners.

Post-review checklist for the PR author

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Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

KYabuuchi · 2023-07-21T04:45:21Z

FYI. I added aruco into the dictionary. tier4/autoware-spell-check-dict#575

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

SakodaShintaro · 2023-07-24T04:04:45Z

The spell-check-differential is still failing, but it is not related to the package added in this PR.

kminoda

Thank you for the PR!
Before running it on my local PC, let me give some comments 🙏

localization/ar_tag_based_localizer/src/ar_tag_based_localizer_core.cpp

launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml

localization/ar_tag_based_localizer/README.md

...zation/ar_tag_based_localizer/include/ar_tag_based_localizer/ar_tag_based_localizer_core.hpp

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

localization/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml

….yaml Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

codecov · 2023-08-03T11:43:06Z

Codecov Report

Patch coverage has no change and project coverage change: +0.02% 🎉

Comparison is base (5dfa9d2) 14.84% compared to head (8f8855c) 14.87%.
Report is 2 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4347      +/-   ##
==========================================
+ Coverage   14.84%   14.87%   +0.02%     
==========================================
  Files        1521     1520       -1     
  Lines      105265   104831     -434     
  Branches    32043    31792     -251     
==========================================
- Hits        15629    15592      -37     
+ Misses      72566    72197     -369     
+ Partials    17070    17042      -28

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`14.90% <ø> (+0.05%)`	⬆️	Carriedforward from c462e41

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
...ased_localizer/src/ar_tag_based_localizer_core.cpp	`0.00% <0.00%> (ø)`
...ased_localizer/src/ar_tag_based_localizer_node.cpp	`0.00% <0.00%> (ø)`
.../ar_tag_based_localizer/src/tag_tf_caster_core.cpp	`0.00% <0.00%> (ø)`
.../ar_tag_based_localizer/src/tag_tf_caster_node.cpp	`0.00% <0.00%> (ø)`
localization/ar_tag_based_localizer/src/utils.cpp	`0.00% <0.00%> (ø)`
planning/behavior_path_planner/src/utils/utils.cpp	`15.28% <ø> (-0.34%)`	⬇️

... and 34 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

KYabuuchi

LGTM 👍

localization/ar_tag_based_localizer/package.xml

kminoda

LGTM!

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

…lizer` (autowarefoundation#4347) * Added ar_tag_based_localizer Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Added include Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed typo Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Added comment Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Updated license statements Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Updated default topic names Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Replaced "_2_" to "_to_" Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed tf_listener_ shared_ptr to unique_ptr Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed unused get_transform Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed alt text Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed topic name Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Fixed default topic name of tag_tf_caster Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Fixed AR Tag Based Localizer to work independently Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> * Added principle Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed how to launch Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added link to sample data Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added sample_result.png Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Update localization/ar_tag_based_localizer/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * Update localization/ar_tag_based_localizer/README.md Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * Fixed LaneLet2 to Lanelet2 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Update localization/ar_tag_based_localizer/src/ar_tag_based_localizer_core.cpp Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * style(pre-commit): autofix * Update localization/ar_tag_based_localizer/config/tag_tf_caster.param.yaml Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> * Added unit to range parameter Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed std::pow Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed marker_size_ != -1 Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed maintainer Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added ar_tag_based_localizer to tier4_localization_launch/package.xml Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Fixed legend of node_diagram Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Renamed range to distance_threshold Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed topic names in README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed parameter input Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed right_to_left_ Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Added namespace ar_tag_based_localizer Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Updated inputs/outputs Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed covariance Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix * Added principle of tag_tf_caster Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Removed ament_lint_auto Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed launch name Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> --------- Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp> Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

Added ar_tag_based_localizer

ea3eb85

Signed-off-by: Shintaro SAKODA <shintaro.sakoda@tier4.jp>

SakodaShintaro added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Jul 20, 2023

SakodaShintaro self-assigned this Jul 20, 2023

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Jul 20, 2023

pre-commit-ci bot and others added 2 commits July 20, 2023 10:06

style(pre-commit): autofix

c82c226

Merge branch 'main' into feat/add_ar_tag_based_localizer

01b1c76

SakodaShintaro and others added 5 commits July 24, 2023 09:35

Merge branch 'main' into feat/add_ar_tag_based_localizer

1f84903

Added include

48af57f

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed typo

08b9c5b

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

style(pre-commit): autofix

9951654

Added comment

4455155

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

SakodaShintaro marked this pull request as ready for review July 24, 2023 03:59

SakodaShintaro requested review from KYabuuchi, kminoda, RyuYamamoto and YamatoAndo as code owners July 24, 2023 03:59

SakodaShintaro added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 24, 2023

kminoda reviewed Jul 24, 2023

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SakodaShintaro added 2 commits July 24, 2023 16:15

Updated license statements

5814ef3

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Updated default topic names

f1dd2da

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

SakodaShintaro removed the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jul 24, 2023

SakodaShintaro added 5 commits July 24, 2023 17:28

Replaced "_2_" to "_to_"

37a8bfd

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed tf_listener_ shared_ptr to unique_ptr

f022db7

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Removed unused get_transform

9532539

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed alt text

139fca1

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Merge branch 'main' into feat/add_ar_tag_based_localizer

a146a2c

kminoda reviewed Jul 25, 2023

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localization/ar_tag_based_localizer/launch/ar_tag_based_localizer.launch.xml Outdated Show resolved Hide resolved

pre-commit-ci bot and others added 20 commits August 3, 2023 06:17

style(pre-commit): autofix

e9f0ebd

Update localization/ar_tag_based_localizer/config/tag_tf_caster.param…

5477996

….yaml Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>

Added unit to range parameter

fc6074c

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Removed std::pow

f265046

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Removed marker_size_ != -1

141b91d

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed maintainer

6724714

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Added ar_tag_based_localizer to tier4_localization_launch/package.xml

9df4bce

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

style(pre-commit): autofix

93ea74a

Fixed legend of node_diagram

8231035

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

style(pre-commit): autofix

bb7d629

Renamed range to distance_threshold

8382a7f

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed topic names in README.md

9ba592d

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed parameter input

0526b6e

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Removed right_to_left_

f2f9a60

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Added namespace ar_tag_based_localizer

ffa5625

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Updated inputs/outputs

1540072

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Fixed covariance

04ab232

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

style(pre-commit): autofix

9b5ac11

Added principle of tag_tf_caster

ff45117

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

Removed ament_lint_auto

812f44f

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

KYabuuchi approved these changes Aug 7, 2023

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SakodaShintaro added 2 commits August 7, 2023 14:36

Merge branch 'main' into feat/add_ar_tag_based_localizer

c462e41

Fixed launch name

8f8855c

Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>

SakodaShintaro merged commit 2f44d6d into autowarefoundation:main Aug 7, 2023
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SakodaShintaro deleted the feat/add_ar_tag_based_localizer branch August 7, 2023 08:14

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chore: sync upstream tier4/autoware.universe#712

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feat(localization): add a new localization package `ar_tag_based_localizer` #4347

feat(localization): add a new localization package `ar_tag_based_localizer` #4347

SakodaShintaro commented Jul 20, 2023 •

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feat(localization): add a new localization package ar_tag_based_localizer #4347

feat(localization): add a new localization package ar_tag_based_localizer #4347

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SakodaShintaro commented Jul 20, 2023 • edited Loading

Description

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Tests performed

Notes for reviewers

Interface 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

KYabuuchi commented Jul 21, 2023

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feat(localization): add a new localization package `ar_tag_based_localizer` #4347

feat(localization): add a new localization package `ar_tag_based_localizer` #4347

SakodaShintaro commented Jul 20, 2023 •

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codecov bot commented Aug 3, 2023 •

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