Feature/differential dynamic map loading #6

kminoda · 2022-09-08T06:24:27Z

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…tils (autowarefoundation#1489) * feat(motion_velocity_smoother): use resampling fucntion from motion utils Signed-off-by: yutaka <purewater0901@gmail.com> * fix behavior velocity planner Signed-off-by: yutaka <purewater0901@gmail.com>

…towarefoundation#1380) * fix(behavior_velocity_planner): changeable max stop distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): update default param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_plannerl): rename param Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behaivor_velocity_planner): fix current stop position Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

… module (autowarefoundation#1454) * feat(behavior_velocity_planner): add hold stop margin distance in vtl module Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): change default value Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…oundation#1434) * feat(obstacle_stop_planner): add hold stop margin distance Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(obstacle_stop_planner): output distance info Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(obstacle_stop_planner): add param into config Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…stance (autowarefoundation#1433) * fix(behavior_velocity_planner): use alias Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): add hold stop margin Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use motion_utils Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(bahevior_velocity_planner): clean up Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(behavior_velocity_planner): use common function Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

) * feat(scan_ground_filter): fix segfault Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * change using sentence Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * fix Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp> * remove unused code Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>

…oundation#1458) * feat(obstacle_stop_planner): prevent from obstacle hunting Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): add common parameter description Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(obstacle_stop_planner): fix bug Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

autowarefoundation#1510) * feat(behavior_path_planner): distance calculation for avoidance module Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * feat(behavior_path_planner): add initialization Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

* fix(freespace_planner): collision check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Exact collision check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

…resampling (autowarefoundation#1506) * fix: lanelet empty case * fix(lanelet2_extension,had_map_utils): fix case point 1 Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> * fix(lanelet2_extension,had_map_utils): fix case point 1 Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

…oundation#1234) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

…uence (autowarefoundation#1511) * remove search distance for turn signal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * set distance to max when a lane_attriute is straight Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…towarefoundation#1502) * feat(motion_utils): add resampling function for path with lane id Signed-off-by: yutaka <purewater0901@gmail.com> * add test Signed-off-by: yutaka <purewater0901@gmail.com> * update test Signed-off-by: yutaka <purewater0901@gmail.com> * add stop point flag Signed-off-by: yutaka <purewater0901@gmail.com>

) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…dation#1475) * fix(behavior_path_planner): fix short drivable area bug Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…on#1321) * feat(interpolation): add akima spline interpolation Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add test Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * additional test of sudden value change Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…utowarefoundation#1518) Signed-off-by: yutaka <purewater0901@gmail.com>

…towarefoundation#1519) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…dation#1517) * feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <purewater0901@gmail.com> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <purewater0901@gmail.com>

…tils (autowarefoundation#1520)

…create deleted marker (autowarefoundation#1513) * feat(tier4_autoware_utils): add function to create deleted marker Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * apply fix to obstacle_cruise_planner Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * fix bug Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

…on#1266) * docs(behavior_velocity_planner): add map format doc Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * Update planning/behavior_velocity_planner/virtual-traffic-light-design.md Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

…on of redundant restart prevention (autowarefoundation#1507) * docs(behavior_velocity_planner): update README Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): update README Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

…foundation#996) * fix(costmap_generator): restrict costmap within parking lot Signed-off-by: NorahXiong <norah.xiong@autocore.ai> * add parameters for free space planning area selection Signed-off-by: NorahXiong <norah.xiong@autocore.ai> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…n#1526) Signed-off-by: yutaka <purewater0901@gmail.com>

…refoundation#1531) * delete is on ego traj Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com>

…warefoundation#1532) * feat(localization_error_monitor): change subscribing topic type * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(behavior_path_planner): fix turn singal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * apply pre-commit Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

…ory point (autowarefoundation#1522) * fix(control_performance_analysis): fix choosing wrong closest trajectory point Signed-off-by: Berkay <berkay@leodrive.ai> * removed comments Signed-off-by: Berkay <berkay@leodrive.ai> * ci(pre-commit): autofix * Single-parameter constructors marked explicit. Signed-off-by: Berkay <berkay@leodrive.ai> * Removed unnecessary variable and change the struct name Signed-off-by: Berkay <berkay@leodrive.ai> * optimized declaration of variables Signed-off-by: Berkay <berkay@leodrive.ai> * update for parameter declaration Signed-off-by: Berkay <berkay@leodrive.ai> * ci(pre-commit): autofix * changed desired steering angle calculation Signed-off-by: Berkay <berkay@leodrive.ai> * ci(pre-commit): autofix * get reference of some variables Signed-off-by: Berkay <berkay@leodrive.ai> * ci(pre-commit): autofix Co-authored-by: Berkay <berkay@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(ekf_localizer): rename biased pose topics * Update topic descriptions in README 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>

…utowarefoundation#1720) * refactor(obstacle_stop_planner): update parameter name for readability Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): update module documentation Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * docs(obstacle_stop_planner): update figure Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(obstacle_stop_planner): separate params by namespace Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * fix(tier4_planning_launch): separate params by namespace Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(obstacle_stop_planner): remove default value from declare_parameter Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * refactor(obstacle_stop_planner): add params to config Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

* feat(rtc_interface): add_finish_distance Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): remove unnecessary include Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): fix typo Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> * fix(behavior_path_planner): fix goal pose Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com> Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

…ation#1790) * fix(tier4_screen_capture_rviz_plugin): fix spell check Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * ci(pre-commit): autofix Signed-off-by: h-ohta <hiroki.ota@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…autowarefoundation#1783) Signed-off-by: v-nakayama7440-esol <v-nakayama7440@esol.co.jp> Signed-off-by: v-nakayama7440-esol <v-nakayama7440@esol.co.jp> Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>

…in hybrid A* algorithm (autowarefoundation#1504) Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

…e utils function (autowarefoundation#1798) * feat(obstacle_cruise_planner): replace interpolation function with the util function Signed-off-by: yutaka <purewater0901@gmail.com> * add dist and yaw threshold Signed-off-by: yutaka <purewater0901@gmail.com> Signed-off-by: yutaka <purewater0901@gmail.com>

) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

…ce for pull_over (autowarefoundation#1796) * feat(behavior_path_planner): check goal to objects logitudinal distance for pull_over Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Update planning/behavior_path_planner/src/utilities.cpp Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * rename to goal_to_obstacle_margin Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * fix rear check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com>

* Added a filter by the norm of the yaw * Fixed typos and tested with rosbags * Added the yaw norm parameter in the launch file

…foundation#1791) * use constPtr Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [velocity_controller] use topic for ego-pose, not TF Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * [mpc] use topic for ego-pose, not TF Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * rename prev variable Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* docs(velodyne_monitor): add known limits Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * Update Readme.md Signed-off-by: h-ohta <hiroki.ota@tier4.jp>

…g velocity (autowarefoundation#1071) * feat(motion_velocity_smoother): add steering rate limit while planning velocity (autowarefoundation#1071) function added, not turning fix the always positive curvature problem added lower velocity limit added vehicle parameters functions created Signed-off-by: Berkay <berkay@leodrive.ai> * Update readme update svg readme updated with test params change sample rate calculate accurate dt test Signed-off-by: Berkay <berkay@leodrive.ai> fix trajectory size update readme change map loader params Signed-off-by: Berkay <berkay@leodrive.ai> clear unnecessary comment Signed-off-by: Berkay <berkay@leodrive.ai> change the min and max index Signed-off-by: Berkay <berkay@leodrive.ai> ci(pre-commit): autofix removed unnecessary params and comments Signed-off-by: Berkay <berkay@leodrive.ai> ci(pre-commit): autofix all velocities in lookup distance is changed Signed-off-by: Berkay <berkay@leodrive.ai> ci(pre-commit): autofix works ci(pre-commit): autofix changed calculations with const lookupdistance ci(pre-commit): autofix not work peak points written with constant distances added param ci(pre-commit): autofix update ci(pre-commit): autofix update steering angle calculation method ci(pre-commit): autofix changed curvature calculation of steeringAngleLimit func Signed-off-by: Berkay Karaman <berkay@leodrive.ai> changed default parameter values Signed-off-by: Berkay <berkay@leodrive.ai> update readme Signed-off-by: Berkay <berkay@leodrive.ai> update engage velocity parameter Signed-off-by: Berkay <berkay@leodrive.ai> * ci(pre-commit): autofix Signed-off-by: Berkay <berkay@leodrive.ai> Co-authored-by: Berkay <berkay@leodrive.ai> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* first commit Signed-off-by: kminoda <koji.m.minoda@gmail.com> * first commit? Signed-off-by: kminoda <koji.m.minoda@gmail.com> * debug Signed-off-by: kminoda <koji.m.minoda@gmail.com> * debug Signed-off-by: kminoda <koji.m.minoda@gmail.com> * now map_tf_generator is merged into map_loader, and works with split maps to load as a wholw Signed-off-by: kminoda <koji.m.minoda@gmail.com> * removed map_tf_generator Signed-off-by: kminoda <koji.m.minoda@gmail.com> * now we can launch map_provider Signed-off-by: kminoda <koji.m.minoda@gmail.com> * now NDT works with partial map (not checked dynamic loading yet, and too many debug logs) Signed-off-by: kminoda <koji.m.minoda@gmail.com> * now works Signed-off-by: kminoda <koji.m.minoda@gmail.com> * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> * downsample for each pcd files Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * changed architecture Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * changed default parameter Signed-off-by: kminoda <koji.m.minoda@gmail.com> * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * fix(ndt_scan_matcher): initialize only if the current map is valid Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * fix(ndt_scan_matcher): added timeout for waiting map when initialization Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * parametrize radius in pose_initializer (+some debug messages) Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * Ignore request when it requests to load an empty pcd map Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * resolved conflict Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * update Signed-off-by: kminoda <koji.m.minoda@gmail.com> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> * change output num_points Signed-off-by: kminoda <koji.m.minoda@gmail.com> * minor updates Signed-off-by: kminoda <koji.m.minoda@gmail.com> * first commig Signed-off-by: kminoda <koji.m.minoda@gmail.com> * now works (remove: not yet) Signed-off-by: kminoda <koji.m.minoda@gmail.com> * now works with pilot-auto.xx1 (include removing) Signed-off-by: kminoda <koji.m.minoda@gmail.com> * update Signed-off-by: kminoda <koji.m.minoda@gmail.com> * added copyFrom function for deepcopy of voxel_grid_info_dict_ Signed-off-by: kminoda <koji.m.minoda@gmail.com> * debugged Signed-off-by: kminoda <koji.m.minoda@gmail.com> * updated copy function of NDT Signed-off-by: kminoda <koji.m.minoda@gmail.com> * Implemented differential map loading with proposal B architecture Signed-off-by: kminoda <koji.m.minoda@gmail.com> * added architecture proposal B, and debugging completedgit add launch/tier4_map_launch/! * Now debugged pose initialization issue. Should work PERFECTLY finegit add localization/git add localization/ Signed-off-by: kminoda <koji.m.minoda@gmail.com> * Now ndt_scan_matcher subscribes EKF (not tf), and EKF does not publish until initialized. Currently debugging how to wrongly subscribing to EKF initial publish Signed-off-by: kminoda <koji.m.minoda@gmail.com> * fixed callback groups, so now the callbackSensorPoints won't be hindered by updateMap Signed-off-by: kminoda <koji.m.minoda@gmail.com> * debugged callback_group problem (map_callback_group is now a class member variable) Signed-off-by: kminoda <koji.m.minoda@gmail.com> * DEBUGGING COMMITgit add perception/! force elevation_map_loader to load pre-build map Signed-off-by: kminoda <koji.m.minoda@gmail.com> Signed-off-by: kminoda <koji.m.minoda@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: IshitaTakeshi <ishitah.takeshi@gmail.com>

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

Signed-off-by: kminoda <koji.minoda@tier4.jp>

…ion#3946) * adopt scane_case to undistort, segment_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to ground_server, ll2_decomposer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to twist_converter, twist_estimator Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to validation packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case tomodularized_particle_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to gnss_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to camera_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to antishadow_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * adopt scane_case to particle_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * organize launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add twist_visualizer to validate odometry performance Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use SE3::exp() to predict particles & modify linear noise model Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * stop to use LL2 to rectify initialpose2d Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix redundant computation in segment_accumulator Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve gnss_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix segment_accumulator's bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add doppler_converter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add xx2.launch.xml Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add hsv_extractor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * pickup other regions which have same color histogram Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use additional region to filt line-segments Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve graph-segmentation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove `truncate_pixel_threshold` Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor graph_segmentator & segment_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add mahalanobis_distance_threshold in GNSS particle corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add extract_line_segments.hpp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use pcl::transformCloudWithNormals instead of transform_cloud Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * filt accumulating segments by LL2 Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move herarchical_cost_map to common Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply positive feedback for accumulation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move transform_linesegments() to common pkg Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use all projected lines for camera corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * evaluate iffy linesegments Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * complete to unify ll2-assisted lsd clasification Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add abs_cos2() which is more strict direction constraint Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix orientation initialization bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * publish doppler direction Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * TMP: add disable/enable switch for camera corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement doppler orientation correction but it's disabled by default Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * speed up camera corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update ros params Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement kalman filter for ground tilt estimation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * continuous height estimation works well? Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * estimate height cotiniously Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use only linesegments which are at same height Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add static_gyro_bias parameter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix bug about overlay varidation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * increse ll2 height marging in cost map generation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add static_gyro_bias in twist.launch.xml Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * load pcdless_init_area from ll2 Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add specified initialization area Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add corrector_manager node to disable/enable camera_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * call service to disable camer_corrector from manager Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * load corrector disable area Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * overlay even if pose is not estiamted Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * publish camera corrector's status as string Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add set_booL_panel for camera_corrector enable/disable Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * load bounding box from lanelet2 Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * draw bounding box on cost map Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove at2,at1 from cost map Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use cost_map::at() instread pf at2() Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move cost map library from common to camera corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use logit for particle weighting but it does not work well Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * prob_to_logit() requires non-intuitive parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * goodbye stupid parameters (max_raw_score & score_offset) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * publish two scored pointclouds as debug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * can handle unmapped areas Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * Update README.md * add image of how_to_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add node diagram in readme Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add rviz_description.png in README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * subscribe pose_with_cov & disconnect base_link <-> particle_pose Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove segment_accumulator & launch ekf_localizer from this project Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add gnss_ekf_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add camera_ekf_corrector package Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * subscribe ekf prediction & synch pose data Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * WIP: ready to implement UKF? Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * estimate weighted averaging as pose_estimator Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * basic algorithm is implemented but it does not work proparly Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply after_cov_gain_ Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * ekf corrector works a little bit appropriately Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * increase twist covariance for ekf Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * test probability theory Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * updat prob.py Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * implement de-bayesing but it loooks ugly Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * skip measurement publishing if travel distance is so short Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use constant covariance because i dont understand what is correct Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add submodule sample_vehicle_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * TMP but it works Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add ekf_trigger in particle_initializer.hpp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * publish gnss markers & camera_est pubishes constant cov Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * back to pcd-less only launcher Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add bayes_util package Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * apply de-bayesing for camera_ekf Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * some launch file update Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * organize launch files. we can choice mode from ekf/pekf/pf Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * organize particle_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add swap_mode_adaptor WIP Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use latest ekf in autoware & sample_vehicle Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix bug of swap_adalptor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix FIX & FLOAT converter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix septentrio doppler converter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move ekf packages to ekf directory Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * ignore corrector_manager Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add standalone arg in launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update semseg_node Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add camera_pose_initializer pkg Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * subscribe camera_info&tf and prepare semantic projection Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * project semantic image Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * create vector map image from ll2 Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * create lane image from vector map Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * search the most match angle by non-zero pixels Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * camera based pose_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move ekf packages into unstable Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move ekf theory debugger Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add tier4_autoware_msgs as submodule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move pose_initializer into initializer dir Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add semse_msgs pkg Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * separate marker pub function Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * separate projection functions Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add semseg_srv client Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move sem-seg directory Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * camera pose initilizer works successfully Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rectify covariance along the orientation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve initialization parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * take into account covariance of request Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use lanelet direciton to compute init pose scores Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * semseg download model automatically Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove sample_vehicle_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add autoware_msgs Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add standalone mode for direct initialization Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix fix_to_pose Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update rviz config Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove lidar_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove Sophus from sunbmodule Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename submodule directory Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README and some sample images Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix override_camera_frame_id bahaviors Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix some bugs (#4) Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix: use initialpose from Rviz (#6) * use initialpose from Rviz to init Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add description about how-to-set-initialpose Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * misc: add license (#7) * WIP: add license description Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add license description Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add description about license in README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add quick start demo (#8) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor(launch) remove & update obsolete launch files (#9) * delete obsolete launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update documents Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * docs(readme): update architecture image (#10) * replace architecture image in README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update some images Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor(pcdless_launc/scripts): remove unnecessary scripts (#11) * remove not useful scripts Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename scripts & add descriptions Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * little change Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove odaiba.rviz Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * grammer fix Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix(pcdless_launch): fix a build bug Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix(twist_estimator): use velocity_report by default Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix bug Signed-off-by: kminoda <koji.minoda@tier4.jp> * debugged, now works Signed-off-by: kminoda <koji.minoda@tier4.jp> * update sample rosbag link (#14) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature(graph_segment, gnss_particle_corrector): make some features switchable (#17) * make additional-graph-segment-pickup disablable Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * enlarge gnss_mahalanobis_distance_threshold in expressway.launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix: minor fix for multi camera support (#18) * fix: minor fix for multi camera support Signed-off-by: kminoda <koji.minoda@tier4.jp> * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix typo Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> * refactor(retroactive_resampler): more readable (#19) * make Hisotry class Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use boost:adaptors::indexed() Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add many comment in resampling() Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * does not use ConstSharedPtr Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename interface of resampler Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * circular_buffer is unnecessary Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor(mpf::predictor) resampling interval control in out of resampler (#20) * resampling interval management should be done out of resample() Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * resampler class throw exeption rather than optional Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split files for resampling_history Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split files for experimental/suspention_adaptor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor(mpf::predictor): just refactoring (#21) * remove obsolete functions Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove test of predictor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove remapping in pf.launch.xml for suspension_adapator Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add some comments Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix(twist_estimator): remove stop filter for velocity (#23) Signed-off-by: kminoda <koji.minoda@tier4.jp> * feat(pcdless_launch): add multi camera launcher (#22) * feat(pcdless_launch): add multi camera launcher Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor fix Signed-off-by: kminoda <koji.minoda@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> * refactor(CMakeListx.txt): just refactoring (#24) * refactor imgproc/*/CMakeListx.txt Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename some files in twist/ & refactor pf/*/cmakelist Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * refactor validation/*/CMakeListx.txt Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix some obsolete executor name Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix: rename lsd variables and files (#26) Signed-off-by: kminoda <koji.minoda@tier4.jp> * misc: reame pcdless to yabloc (#25) * rename pcdless to yabloc Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix conflict miss Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * visualize path (#28) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * docs: update readme about particle filter (#30) * update mpf/README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update gnss_corrector/README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update camera_corrector/README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feat(segment_filter): publish images with lines and refactor (#29) * feat(segment_filter): publish images with lines Signed-off-by: kminoda <koji.minoda@tier4.jp> * update validation Signed-off-by: kminoda <koji.minoda@tier4.jp> * update imgproc (reverted) Signed-off-by: kminoda <koji.minoda@tier4.jp> * large change inclding refactoring Signed-off-by: kminoda <koji.minoda@tier4.jp> * major update Signed-off-by: kminoda <koji.minoda@tier4.jp> * revert rviz config Signed-off-by: kminoda <koji.minoda@tier4.jp> * minor fix in name Signed-off-by: kminoda <koji.minoda@tier4.jp> * add validation option Signed-off-by: kminoda <koji.minoda@tier4.jp> * update architecture svg Signed-off-by: kminoda <koji.minoda@tier4.jp> * rename validation.launch to overlay.launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * no throw runtime_error (unintentionaly applying format) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * catch runtime_error when particle id is invalid (#31) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * return if info is nullopt (#32) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * pose_buffer is sometimes empty (#33) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use_yaw_of_initialpose (#34) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feat(interface): remove incompatible interface (#35) * not use ublox_msg when run as autoware Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove twist/kalman/twist & use twist_estimator/twist_with_covariance Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update particle_array stamp even if the time stamp seems wrong Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix: suppress info/warn_stream (#37) * does not stream undistortion time Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve warn stream when skip particle weighting Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * surpress frequency of warnings during synchronized particle searching Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix camera_pose_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * /switch must not be nice name (#39) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * misc(readme): update readme (#41) * add youtube link and change thumbnail Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * improve input/output topics Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * quick start demo screen image Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add abstruct architecture and detail architecture Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * docs(rosdep): fix package.xml to ensure build success (autowarefoundation#44) * fix package.xml to success build Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add 'rosdep install' in how-to-build Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add geographiclib in package.xml (autowarefoundation#46) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix path search error in build stage (autowarefoundation#45) * fix path search error in build stage * fix tier4/YabLoc#45 (comment) * Feature/remove submodule (autowarefoundation#47) * remove submodules Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove doppler converter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature: change node namespace to /localization/yabloc/** from /localization/** (autowarefoundation#48) * change node namespace Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update namespace for autoware-mode Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update namespace in multi_camera.launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * removed unstable packages (autowarefoundation#49) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature: add *.param.yaml to manage parameters (autowarefoundation#50) * make *.param.yaml in imgproc packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in initializer packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in map packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in pf packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * make *.param.yaml in twist packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix expressway parameter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix override_frame_id Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove default parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix some remaining invalida parameters Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * does not estimate twist (autowarefoundation#51) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feat(particle_initializer): merge particle_initializer into mpf (autowarefoundation#52) * feat(particle_initializer): merge particle_initializer to modulalized_particle_filter Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove particle_initializer * remove debug message Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove related parts Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * rename publishing topic Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Co-authored-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix: remove ll2_transition_area (autowarefoundation#54) Signed-off-by: kminoda <koji.minoda@tier4.jp> * feature(initializer): combine some initializer packages (autowarefoundation#56) * combine some package about initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * yabloc_pose_initializer works well Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove old initializer packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * semseg node can launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix bug Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * revert initializer mode Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature(imgproc): reudce imgproc packages (autowarefoundation#57) * combine some imgproc packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * combine overlay monitors into imgproc Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature(validation): remove validation packages (autowarefoundation#58) * remove validation packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove path visualization Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature(pf): combine some packages related to particle filter (autowarefoundation#59) * create yabloc_particle_filter Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * combine gnss_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * combine ll2_cost_map Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * combine camera_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * split README & remove obsolete scripts Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix config path of multi_camera mode Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * feature: combine map and twist packages (autowarefoundation#60) * removed some twist nodes & rename remains to yabloc_twist Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fix launch files for yabloc_twist Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move map packages to yabloc_common Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * WIP: I think its impossible Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * Revert "WIP: I think its impossible" This reverts commit 49da507bbf9abe8fcebed4d4df44ea5f4075f6d1. * remove map packages & fix some launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * removed obsolete packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove obsolete dot files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use tier4_loc_launch instead of yabloc_loc_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * move launch files to each packages Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove yabloc_localization_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * remove yabloc_launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * modify yabloc/README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update yabloc_common/README.md Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update yabloc_imgproc README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update yabloc_particle_filter/README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update yabloc_pose_initializer/README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * update README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use native from_bin_msg Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use ifndef instead of pragma once in yabloc_common Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use ifndef instead of pragma once in yabloc_imgproc & yabloc_pf Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * use ifndef instead of pragma once in yabloc_pose_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * use autoware_cmake & suppress build warning Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * repalce yabloc::Timer with tier4_autoware_utils::StopWatch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * replace 1.414 with std::sqrt(2) Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * removed redundant ament_cmake_auto Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * removed yabloc_common/timer.hpp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * replaced low_pass_filter with autoware's lowpass_filter_1d Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * Squashed commit of the following: Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> commit cb08e290cca5c00315a58a973ec068e559c9e0a9 Author: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Date: Tue Jun 13 14:30:09 2023 +0900 removed ublox_msgs in gnss_particle_corrector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> commit c158133f184a43914ec5f929645a7869ef8d03be Author: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Date: Tue Jun 13 14:24:19 2023 +0900 removed obsolete yabloc_multi_camera.launch Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> commit 10f578945dc257ece936ede097544bf008e5f48d Author: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Date: Tue Jun 13 14:22:14 2023 +0900 removed ublox_msgs in yabloc_pose_initializer Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * removed fix2mgrs & ublox_stamp Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * added ~/ at the top of topic name Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * removed use_sim_time in yabloc launch files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * add architecture diagram in README Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename lsd_node to line_segment_detector Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * Update localization/yabloc/README.md fix typo Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> * removed obsolete debug code in similar_area_searcher Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * removed suspension_adaptor which manages lifecycle of particle predictor Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * renamed semseg to SemanticSegmentation Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * fixed README.md to solve markdownlint Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * WIP: reflected cpplint's suggestion Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * reflected cpplint's suggestion Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * rename AbstParaticleFilter in config files Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fixed typo Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * used autoware_lint_common Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * fixed miss git add Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * style(pre-commit): autofix * replaced lanelet_util by lanelet2_extension Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * replaced fast_math by tie4_autoware_utils Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * sort package.xml Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * renamed yabloc_imgproc with yabloc_image_processing Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * reflected some review comments Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * resolved some TODO Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * prioritize NDT if both NDT and YabLoc initializer enabled Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> * changed localization_mode option names Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> --------- Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp> Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> Co-authored-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: Akihiro Komori <akihiro.komori@unity3d.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>

purewater0901 and others added 30 commits August 3, 2022 10:57

fix(freespace_planner): collision check (autowarefoundation#985)

4d10180

* fix(freespace_planner): collision check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> * Exact collision check Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

feat(lanelet2_extension)!: move package to autoware_common (autowaref…

6d7423a

…oundation#1234) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

fix(obstacle_cruise_planner): add missing param (autowarefoundation#1515

7da6cd4

) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

fix(obstacle_cruise_planner): update doc name (autowarefoundation#1516)

49db777

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

fix(behavior_path_planner): fix short drivable area bug (autowarefoun…

cdc120c

…dation#1475) * fix(behavior_path_planner): fix short drivable area bug Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com> * add comment Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

feat(motion_utils): substitute input path initila point informaiton (a…

8bd7cff

…utowarefoundation#1518) Signed-off-by: yutaka <purewater0901@gmail.com>

fix(behavior_path_planner): fix turn signal logic in intersection (au…

0db51f5

…towarefoundation#1519) Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>

feat(behavior_velocity_planner): use sampling functions from motion u…

49d91ff

…tils (autowarefoundation#1520)

feat(behavior_path_planner): fix resampling method (autowarefoundatio…

0fe0931

…n#1526) Signed-off-by: yutaka <purewater0901@gmail.com>

feat(obstacle_cruise_planner): update obstacle cruise planner (autowa…

ac85255

…refoundation#1531) * delete is on ego traj Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com>

feat(localization_error_monitor): change subscribing topic type (auto…

a9acb3f

…warefoundation#1532) * feat(localization_error_monitor): change subscribing topic type * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

fix(behavior_path_planner): fix turn singal (autowarefoundation#1539)

3dbcae2

* fix(behavior_path_planner): fix turn singal Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * apply pre-commit Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>

IshitaTakeshi and others added 27 commits September 6, 2022 18:43

fix(freespace_planning_algorithms): non-successive waypoints problem …

37e8c99

…in hybrid A* algorithm (autowarefoundation#1504) Signed-off-by: NorahXiong <norah.xiong@autocore.ai>

feat: change car size param in shape estimation (autowarefoundation#1709

8792a93

) Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com> Signed-off-by: Yukihiro Saito <yukky.saito@gmail.com>

feat(lidar_centerpoint): yaw norm filter (autowarefoundation#1728)

f69f612

* Added a filter by the norm of the yaw * Fixed typos and tested with rosbags * Added the yaw norm parameter in the launch file

docs(velodyne_monitor): add known limits (autowarefoundation#1802)

1379811

* docs(velodyne_monitor): add known limits Signed-off-by: h-ohta <hiroki.ota@tier4.jp> * Update Readme.md Signed-off-by: h-ohta <hiroki.ota@tier4.jp>

fixed minor bug

2a06384

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

modified a lot of files to sync with autowarefoundation/main

9ab96d4

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

modified a lot of files to sync with autowarefoundation/main

ea5d2fa

Signed-off-by: kminoda <koji.m.minoda@gmail.com>

minor fix

5fe5540

parametrize dml parameters

0d96b08

Signed-off-by: kminoda <koji.minoda@tier4.jp>

added diagnostics

71ab521

Signed-off-by: kminoda <koji.minoda@tier4.jp>

copyFrom() -> copy constructor, WIP!

1d48b50

Signed-off-by: kminoda <koji.minoda@tier4.jp>

Partially moved to copy ctor (still not yet using ndt_omp's copy ctor)

fccd71e

Signed-off-by: kminoda <koji.minoda@tier4.jp>

resolve conflicts

2078ed2

Signed-off-by: kminoda <koji.minoda@tier4.jp>

resolve conflicts

e4ea5e1

Signed-off-by: kminoda <koji.minoda@tier4.jp>

move set function from ndt to ndt_omp

dd365a4

Signed-off-by: kminoda <koji.minoda@tier4.jp>

finally solved the copy constructor issue. Now works withoug CopyFrom()!

06a5e1b

Signed-off-by: kminoda <koji.minoda@tier4.jp>

check nullptr for last_update_position_ptr in callbackEKFOdom()

5382bd8

kminoda closed this Sep 28, 2022

kminoda deleted the feature/differential_dynamic_map_loading branch August 10, 2023 08:51

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Feature/differential dynamic map loading #6

Feature/differential dynamic map loading #6

kminoda commented Sep 8, 2022

Feature/differential dynamic map loading #6

Feature/differential dynamic map loading #6

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kminoda commented Sep 8, 2022

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