Merge branch 'main' into feat/remove-glog-from-online-evaluator-node-constructor

Author: TetsuKawa

.github/CODEOWNERS

@@ -25,7 +25,7 @@ control/autoware_control_validator/** kyoichi.sugahara@tier4.jp makoto.kurihara@
 control/autoware_external_cmd_selector/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_joy_controller/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_lane_departure_checker/** kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp zulfaqar.azmi@tier4.jp
-control/autoware_mpc_lateral_controller/** alqudah.mohammad@tier4.jp kyoichi.sugahara@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+control/autoware_mpc_lateral_controller/** alqudah.mohammad@tier4.jp arjun.ram@tier4.jp kyoichi.sugahara@tier4.jp
 control/autoware_obstacle_collision_checker/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 control/autoware_operation_mode_transition_manager/** isamu.takagi@tier4.jp taiki.yamada@tier4.jp
 control/autoware_pid_longitudinal_controller/** arjun.ram@tier4.jp kyoichi.sugahara@tier4.jp yuki.takagi@tier4.jp
@@ -118,8 +118,8 @@ perception/perception_utils/** lei.gu@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tie
 planning/autoware_costmap_generator/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 planning/autoware_diffusion_planner/** daniel.sanchez@tier4.jp go.sakayori@tier4.jp shintaro.sakoda@tier4.jp yukihiro.saito@tier4.jp
 planning/autoware_external_velocity_limit_selector/** satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
-planning/autoware_freespace_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-planning/autoware_freespace_planning_algorithms/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
+planning/autoware_freespace_planner/** alqudah.mohammad@tier4.jp kosuke.takeuchi@tier4.jp
+planning/autoware_freespace_planning_algorithms/** alqudah.mohammad@tier4.jp kosuke.takeuchi@tier4.jp
 planning/autoware_hazard_lights_selector/** makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp
 planning/autoware_manual_lane_change_handler/** arjun.ram@tier4.jp
 planning/autoware_mission_planner_universe/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp ryohsuke.mitsudome@tier4.jp taiki.yamada@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp

control/autoware_pid_longitudinal_controller/src/pid_longitudinal_controller.cpp

@@ -816,6 +816,12 @@ PidLongitudinalController::Motion PidLongitudinalController::calcCtrlCmd(
 
     m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_ACC_LIMITED, ctrl_cmd_as_pedal_pos.acc);
     m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_JERK_LIMITED, ctrl_cmd_as_pedal_pos.acc);
+
+    if (m_enable_slope_compensation) {
+      const double pitch_limited =
+        std::clamp(control_data.slope_angle, m_min_pitch_rad, m_max_pitch_rad);
+      ctrl_cmd_as_pedal_pos.acc -= 9.81 * std::sin(std::abs(pitch_limited));
+    }
     m_debug_values.setValues(DebugValues::TYPE::ACC_CMD_SLOPE_APPLIED, ctrl_cmd_as_pedal_pos.acc);
 
     RCLCPP_DEBUG(

perception/autoware_camera_streampetr/README.md

@@ -152,9 +152,9 @@ You can download the ONNX model files for StreamPETR. The files should be placed
 
 Required model files:
 
-- Backbone ONNX model: TODO
-- Head ONNX model: TODO
-- Position embedding ONNX model: TODO
+- [Backbone ONNX Model](https://awf.ml.dev.web.auto/perception/models/streampetr/v1/simplify_extract_img_feat.onnx)
+- [Head ONNX Model](https://awf.ml.dev.web.auto/perception/models/streampetr/v1/simplify_pts_head_memory.onnx)
+- [Position Embedding ONNX Model](https://awf.ml.dev.web.auto/perception/models/streampetr/v1/simplify_position_embedding.onnx)
 
 If you want to train and deploy your own model, you can find the source code for that in [AWML](https://github.com/tier4/AWML/tree/main/projects/StreamPETR).
 

perception/autoware_camera_streampetr/config/camera_streampetr.param.yaml

@@ -0,0 +1,29 @@
+/**:
+  ros__parameters:
+    debug_mode: true # Whether to enable debug mode, which may include additional logging
+    max_camera_time_diff: 0.15 #Maximum allowed time difference for camera image sync in seconds
+    multithreading: false # Whether to use multithreading for handling image callbacks
+    anchor_camera_id: 0 # Camera id of the anchor topic. The forward pass begins once every anchor camera topic reaches.
+    is_compressed_image: false # Whether the input images are compressed
+    is_distorted_image: false # Whether the input images are distorted
+    model_params:
+
+      trt_precision: "fp16" # TensorRT precision mode: "fp16" or "fp32"
+      use_temporal: true # Can the model use temporal information or not.
+
+      backbone_path: "$(var model_path)/simplify_extract_img_feat.onnx" # Path to the backbone onnx file, relative to the model_param_path
+      head_path: "$(var model_path)/simplify_pts_head_memory.onnx" # Path to the detection head onnx file, relative to the model_param_path
+      position_embedding_path: "$(var model_path)/simplify_position_embedding.onnx" # Path to the position embedding onnx file, relative to the model_param_path
+
+      backbone_engine_path: ""   # Path to the tensorRT engine file for the backbone. If empty, the path will be set to backbone_path with .engine extension, and the engine will be built if it does not exist.
+      head_engine_path: ""       # Path to the tensorRT engine file for the head. If empty, the path will be set to head_path with .engine extension, and the engine will be built if it does not exist.
+      position_embedding_engine_path: "" # Path to the tensorRT engine file for the position embedding. If empty, the path will be set to position_embedding_path with .engine extension, and the engine will be built if it does not exist.
+
+      workspace_size: 32 # TensorRT workspace size for building the engine. 2^workspace_size bytes, e.g., 32 means 4 GB of workspace will be used for building the engine.
+
+    post_process_params: # These are post-processing parameters to improve the predictions.
+      confidence_threshold: [0.36, 0.39, 0.38, 0.41, 0.43]  # Per-class thresholds: [CAR, TRUCK, BUS, BICYCLE, PEDESTRIAN]
+      circle_nms_dist_threshold: 0.0   # turn off circle NMS by setting 0.0, otherwise set to around 0.5
+      iou_nms_search_distance_2d: 10.0
+      iou_nms_threshold: 0.5           # set to 0 to turn off iou NMS
+      yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0]

perception/autoware_camera_streampetr/config/ml_package_camera_streampetr.param.yaml

@@ -0,0 +1,15 @@
+# This is just an example file, the actual model param file comes with the model onnx files
+# and is stored in the artifacts directory (~/autoware_data/camera_streampetr by default).
+
+/**:
+  ros__parameters:
+    model_params: # These are parameters that are dependent on the onnx file.
+      class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"]
+      detection_range: [-61.2, -61.2, -10.0, 61.2, 61.2, 10.0]  # [-x,-y,-z,x,y,z] from base_link. The model is not trained to predict objects outside this range.
+                                                                # So, anything outside this range is wrong, and this parameter is used to filter out objects that are outside this range
+      input_image_height: 480
+      input_image_width: 640
+      num_proposals: 5400
+      rois_number: 5 # ["CAM_FRONT", "CAM_FRONT_LEFT", "CAM_BACK_LEFT", "CAM_FRONT_RIGHT", "CAM_BACK_RIGHT"]
+      pre_memory_length: 1024 # Input memory length for the temporal model
+      post_memory_length: 1280 # Output memory length for the temporal model

perception/autoware_camera_streampetr/config/tensorrt_stream_petr.param.yaml

@@ -0,0 +1,35 @@
+<launch>
+  <arg name="build_only" default="false" description="shutdown node after TensorRT engine file is built"/>
+  <arg name="model_path" default="$(env HOME)/autoware_data/camera_streampetr"/>
+
+  <arg name="model_param_path" default="$(var model_path)/ml_package_camera_streampetr.param.yaml"/>
+  <arg name="node_param_path" default="$(find-pkg-share autoware_camera_streampetr)/config/camera_streampetr.param.yaml"/>
+
+  <arg name="is_compressed_image" default="false" description="whether the input image is compressed"/>
+
+  <let name="compressed_suffix" value="$(eval &quot;'/compressed' if '$(var is_compressed_image)' == 'true' else ''&quot;)"/>
+  <let name="camera0_topic" value="/sensing/camera/camera0/image_rect_color$(var compressed_suffix)"/>
+  <let name="camera1_topic" value="/sensing/camera/camera1/image_rect_color$(var compressed_suffix)"/>
+  <let name="camera2_topic" value="/sensing/camera/camera2/image_rect_color$(var compressed_suffix)"/>
+  <let name="camera3_topic" value="/sensing/camera/camera3/image_rect_color$(var compressed_suffix)"/>
+  <let name="camera4_topic" value="/sensing/camera/camera4/image_rect_color$(var compressed_suffix)"/>
+
+  <node pkg="autoware_camera_streampetr" exec="autoware_camera_streampetr_node" name="stream_petr" output="screen">
+    <param from="$(var model_param_path)" allow_substs="true"/>
+    <param from="$(var node_param_path)" allow_substs="true"/>
+    <param name="build_only" value="$(var build_only)"/>
+
+    <!-- Image of ~/input/camera_i will be the ith image in the model input -->
+    <remap from="~/input/camera0/camera_info" to="/sensing/camera/camera0/camera_info"/>
+    <remap from="~/input/camera1/camera_info" to="/sensing/camera/camera1/camera_info"/>
+    <remap from="~/input/camera2/camera_info" to="/sensing/camera/camera2/camera_info"/>
+    <remap from="~/input/camera3/camera_info" to="/sensing/camera/camera3/camera_info"/>
+    <remap from="~/input/camera4/camera_info" to="/sensing/camera/camera4/camera_info"/>
+
+    <remap from="~/input/camera0/image$(var compressed_suffix)" to="$(var camera0_topic)"/>
+    <remap from="~/input/camera1/image$(var compressed_suffix)" to="$(var camera1_topic)"/>
+    <remap from="~/input/camera2/image$(var compressed_suffix)" to="$(var camera2_topic)"/>
+    <remap from="~/input/camera3/image$(var compressed_suffix)" to="$(var camera3_topic)"/>
+    <remap from="~/input/camera4/image$(var compressed_suffix)" to="$(var camera4_topic)"/>
+  </node>
+</launch>