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feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation #10300
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feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation #10300
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Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
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Thanks for your continued work on CUDA integration into pointcloud preprocessor!
- Apart from comments, there is an error while passing host msgs to concatenated pointcloud:
[cuda_concatenate_and_time_sync_node-1] [WARN 1742948909.196968462] [cuda_concatenate_and_time_sync_node]: The compatible callback was called. This results in a performance loss. This behavior is probably not intended or a temporal measure (compatibleCallback() at /workspace/src/universe/external/cuda_blackboard/src/cuda_blackboard_subscriber.cpp:121)
[cuda_concatenate_and_time_sync_node-1] terminate called after throwing an instance of 'std::runtime_error'
[cuda_concatenate_and_time_sync_node-1] what(): cudaErrorIllegalAddress (700)@/workspace/src/universe/external/cuda_blackboard/include/cuda_blackboard/cuda_unique_ptr.hpp#L50: an illegal memory access was encountered
If this node is not supposed to work with host messages, please address this use case.
- Passing cuda messages results with:
[cuda_pointcloud_preprocessor_node-3] [INFO 1742955625.198786715] [right.cuda_pointcloud_preprocessor]: Negotiating (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:610)
[cuda_pointcloud_preprocessor_node-1] [INFO 1742955625.200537233] [top.cuda_pointcloud_preprocessor]: Negotiating (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:610)
[cuda_pointcloud_preprocessor_node-2] [INFO 1742955625.202174008] [left.cuda_pointcloud_preprocessor]: Negotiating (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:610)
[cuda_pointcloud_preprocessor_node-3] [INFO 1742955625.275429451] [right.cuda_pointcloud_preprocessor]: Negotiating (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:610)
[cuda_pointcloud_preprocessor_node-3] [INFO 1742955625.275482867] [right.cuda_pointcloud_preprocessor]: Could not negotiate (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:633)
[cuda_pointcloud_preprocessor_node-1] [INFO 1742955625.280224024] [top.cuda_pointcloud_preprocessor]: Negotiating (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:610)
[cuda_pointcloud_preprocessor_node-1] [INFO 1742955625.280280914] [top.cuda_pointcloud_preprocessor]: Could not negotiate (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:633)
[cuda_pointcloud_preprocessor_node-2] [INFO 1742955625.280701652] [left.cuda_pointcloud_preprocessor]: Negotiating (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:610)
[cuda_pointcloud_preprocessor_node-2] [INFO 1742955625.280758089] [left.cuda_pointcloud_preprocessor]: Could not negotiate (negotiate() at /workspace/src/universe/external/negotiated/negotiated/src/negotiated_publisher.cpp:633)
- I tried to check how it works, but due to the problems mentioned above it is impossible. I cherry-picked commits from parent PR, but I'm not sure if my custom launch file is correct. Could you please update "Notes for reviewers" section and prepare launch file for reviewing purposes which:
- Run nebula.
- Run cuda pointcloud preprocessor for top, right and left sensor.
- Run cuda concatenate.
Of course I did it, but seems it doesn't work.
...include/autoware/cuda_pointcloud_preprocessor/cuda_concatenate_data/cuda_cloud_collector.hpp
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sensing/autoware_cuda_pointcloud_preprocessor/schema/concatenate_and_time_sync_node.schema.json
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sensing/autoware_cuda_pointcloud_preprocessor/schema/concatenate_and_time_sync_node.schema.json
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...toware_cuda_pointcloud_preprocessor/src/cuda_concatenate_data/cuda_combine_cloud_handler.cpp
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...toware_cuda_pointcloud_preprocessor/src/cuda_concatenate_data/cuda_combine_cloud_handler.cpp
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...toware_cuda_pointcloud_preprocessor/src/cuda_concatenate_data/cuda_combine_cloud_handler.cpp
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Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
…e as the non-gpu node Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
@amadeuszsz |
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
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LGTM!
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
…b.com:knzo25/autoware.universe into feat/cuda_blackboard_concatenated_pointcloud2 Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Codecov ReportAttention: Patch coverage is
Additional details and impacted files@@ Coverage Diff @@
## main #10300 +/- ##
==========================================
- Coverage 24.93% 24.81% -0.13%
==========================================
Files 1340 1336 -4
Lines 104860 103769 -1091
Branches 39681 39322 -359
==========================================
- Hits 26151 25747 -404
+ Misses 76226 75584 -642
+ Partials 2483 2438 -45
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. 🚀 New features to boost your workflow:
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* fix: add irregular object detector pipeline (#10369) * feat: add small unknown object detector pipeline Signed-off-by: badai-nguyen <[email protected]> * chore: rename param Signed-off-by: badai-nguyen <[email protected]> * refactor: camera lidar detector launch.xml Signed-off-by: badai-nguyen <[email protected]> * chore: change default fusion camera ids Signed-off-by: badai-nguyen <[email protected]> * fix: camera_lidar_detector launch Signed-off-by: badai-nguyen <[email protected]> * fix: update rois_timestamp_offsets param name Signed-off-by: badai-nguyen <[email protected]> * chore: pre-commit Signed-off-by: badai-nguyen <[email protected]> * fix: spelling Signed-off-by: badai-nguyen <[email protected]> * separete unknown pipeline Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * fix: sync param Signed-off-by: badai-nguyen <[email protected]> * fix: change to simple object merger Signed-off-by: badai-nguyen <[email protected]> * fix: fusion param Signed-off-by: badai-nguyen <[email protected]> * refactor: change file name Signed-off-by: badai-nguyen <[email protected]> * refactor: rename topic and ns Signed-off-by: badai-nguyen <[email protected]> * chore: unify naming Signed-off-by: badai-nguyen <[email protected]> * refactor cameara lidar merger Signed-off-by: badai-nguyen <[email protected]> * fix: camera_lidar_radar merger Signed-off-by: badai-nguyen <[email protected]> * style(pre-commit): autofix * refactor: image_topic_name Signed-off-by: badai-nguyen <[email protected]> * refactor: param path update Signed-off-by: badai-nguyen <[email protected]> * fix: irregular object switch Signed-off-by: badai-nguyen <[email protected]> * fix: missing param Signed-off-by: badai-nguyen <[email protected]> * fix: missing param Signed-off-by: badai-nguyen <[email protected]> * fix: move roi_pointcloud_fusion out of container Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(agnocast_wrapper): fix build error (#10391) Signed-off-by: veqcc <[email protected]> * feat(autoware_default_adapi): release adapi v1.8.0 (#10380) Signed-off-by: Takagi, Isamu <[email protected]> * feat(lidar_centerpoint): add diagnostics for processing time (#10284) * add diagnostics for processing time Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * change to timer callback to check the error Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * add ms in name Signed-off-by: a-maumau <[email protected]> * fix cppcheck error Signed-off-by: a-maumau <[email protected]> * change parameter name Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * change structure Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * change var name Signed-off-by: a-maumau <[email protected]> * change config related part Signed-off-by: a-maumau <[email protected]> * fix typo Signed-off-by: a-maumau <[email protected]> * change launch arg name Signed-off-by: a-maumau <[email protected]> * add schema file Signed-off-by: a-maumau <[email protected]> * refactor(autoware_lidar_centerpoint): remove unused is_processing_delayed_ variable Signed-off-by: Taekjin LEE <[email protected]> * add processing time in diag. Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * refactor Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * use diagnostic_updater instead of timer callback Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * change validation_callback_interval_ms type to number Signed-off-by: a-maumau <[email protected]> * Update perception/autoware_lidar_centerpoint/src/node.cpp --------- Signed-off-by: a-maumau <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <[email protected]> Co-authored-by: Taekjin LEE <[email protected]> * fix(start_planner): fix segmentation fault when generating backward path (#10393) * feat(behavior_path_planner): handle empty backward path case Signed-off-by: kyoichi-sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]> * feat: should be using NvInferRuntime.h (#10399) Signed-off-by: YuxuanLiuTier4Desktop <[email protected]> * fix: missing dependency on tf2_sensor_msgs (#10400) Signed-off-by: Tim Clephas <[email protected]> * fix(agnocast_wrapper): separate message ptr types into unique and shared (#10392) fix(agncast_wrapper): separate message ptr types into unique and shared Signed-off-by: veqcc <[email protected]> * fix: temporarily ignore autoware_agnocast_wrapper (#10402) temporary ignore Signed-off-by: sykwer <[email protected]> * feat(planning_validator): improve lateral acc calculation (#10385) * feat: add functions to calculate interval distance and lateral acceleration Signed-off-by: Kyoichi Sugahara <[email protected]> * refactor: rename array parameters to vector for clarity Signed-off-by: Kyoichi Sugahara <[email protected]> * fix: simplify lateral acceleration calculation using std::hypot Signed-off-by: Kyoichi Sugahara <[email protected]> --------- Signed-off-by: Kyoichi Sugahara <[email protected]> * fix(lidar_marker_localizer): fix typo in launch file (#10405) fix typo Signed-off-by: Yamato Ando <[email protected]> * fix(start_planner): use waypoints as centerline if available (#10238) * fix(start_planner): use waypoints as centerline if available Signed-off-by: Mehmet Dogru <[email protected]> * update function name Signed-off-by: Mehmet Dogru <[email protected]> * rename function name Signed-off-by: Mehmet Dogru <[email protected]> --------- Signed-off-by: Mehmet Dogru <[email protected]> * feat(autoware_planning_evaluator): refactor planning_evaluator for new metrics (#10368) * tmp save. Signed-off-by: xtk8532704 <[email protected]> * tmp save. Signed-off-by: xtk8532704 <[email protected]> * WIP add accumulator-based metrics. Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> * add unit test. Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> * fix cppcheck Signed-off-by: xtk8532704 <[email protected]> * update readme. Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> * polish readme. Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> * change count to size_t Signed-off-by: xtk8532704 <[email protected]> * update config. Signed-off-by: xtk8532704 <[email protected]> * publish count. Signed-off-by: xtk8532704 <[email protected]> * fix stop decision bug Signed-off-by: xtk8532704 <[email protected]> * update parameters. Signed-off-by: xtk8532704 <[email protected]> * fix typo Signed-off-by: xtk8532704 <[email protected]> --------- Signed-off-by: xtk8532704 <[email protected]> Co-authored-by: t4-adc <[email protected]> * refactor(planning_validator): restructure planning validator configuration (#10401) * refactor planning validator parameters Signed-off-by: mohammad alqudah <[email protected]> * check enable flag for all validity checks Signed-off-by: mohammad alqudah <[email protected]> * add missing parameters Signed-off-by: mohammad alqudah <[email protected]> * add debug markers and clean up code Signed-off-by: mohammad alqudah <[email protected]> * update planning validator readme Signed-off-by: mohammad alqudah <[email protected]> * update planning validator test Signed-off-by: mohammad alqudah <[email protected]> * properly set is_critical_error_ flag for all checks Signed-off-by: mohammad alqudah <[email protected]> * Update planning/autoware_planning_validator/include/autoware/planning_validator/parameters.hpp Co-authored-by: Satoshi OTA <[email protected]> * run pre-commit checks Signed-off-by: mohammad alqudah <[email protected]> * fix cherry-pick errors Signed-off-by: mohammad alqudah <[email protected]> * remove unnecessary cherry-pick changes Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> * refactor(control validaor): refactor control_validator (#10363) Signed-off-by: yuki-takagi-66 <[email protected]> * feat(tier4_simulator_launch): remove exec_depend on autoware_launch (#10415) Signed-off-by: Takagi, Isamu <[email protected]> * fix(build_depends_humble.repos): update `autoware_cmake` to address #10410 (#10416) * remove todo Signed-off-by: Yutaka Kondo <[email protected]> * update autoware_cmake Signed-off-by: Yutaka Kondo <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]> * fix(pointcloud_preprocessor): added missing includes (#10412) fix: added missing includes Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix(behavior_path_planner): apply THROTTLE to frequent log (#10417) Signed-off-by: Takayuki Murooka <[email protected]> * fix(planning): apply THROTTLE to frequent log (#10419) Signed-off-by: Takayuki Murooka <[email protected]> * fix(autoware_compare_map_segmentation): missing includes (#10413) fix: missing include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore(autoware_planning_validator): add new maintainers to planning_validator (#10421) (autoware_planning_validator): add new maintainers to package.xml Signed-off-by: Kyoichi Sugahara <[email protected]> * chore: update CODEOWNERS (#10266) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]> * feat(perception_launch): add common param file (#10396) add common param Signed-off-by: a-maumau <[email protected]> * feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long (#10280) * feat(probabilistic_occupancy_grid_map): add diagnostics warning when latency is too long Signed-off-by: lei.gu <[email protected]> * feat(probabilistic_occupancy_grid_map): add default max_output_delay_ms_ Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix Signed-off-by: lei.gu <[email protected]> * feat(probabilistic_occupancy_grid_map): fix reading parameters and add schema Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix * feat(probabilistic_occupancy_grid_map):1. add tolerance duration 2. change to process time Signed-off-by: lei.gu <[email protected]> * feat(probabilistic_occupancy_grid_map): modification since it is clear that the target isprocess time Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: lei.gu <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix: add missing exec_depend (#10404) * fix missing exec depend Signed-off-by: Takagi, Isamu <[email protected]> * remove fixed depend Signed-off-by: Takagi, Isamu <[email protected]> * remove the removed dependency Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> * feat(mrm_handler): modify log level (#10425) Signed-off-by: Takagi, Isamu <[email protected]> * feat(autoware_cluster_merger): created Schema file and updated ReadME file for parameters settings (#9977) * feat: Created Schema file and updated ReadME file for parameters settings Signed-off-by: vish0012 <[email protected]> * style(pre-commit): autofix * Update README.md Updated readme file --------- Signed-off-by: vish0012 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: badai nguyen <[email protected]> * feat(compare_map_segmentation): publish warning when pcl::voxelgrid failed to filter with large leaf size (#10381) * feat: add warn in pcl overflow with compare_map Signed-off-by: yoshiri <[email protected]> chore: fix message length Signed-off-by: yoshiri <[email protected]> feat: add sanity check into voxel based compare map Signed-off-by: yoshiri <[email protected]> feat: add feasibility check function Signed-off-by: yoshiri <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> * fix: update include paths for voxel_grid_map_loader in segmentation filters Signed-off-by: Taekjin LEE <[email protected]> * feat: add diagnostic status handling in VoxelGridMapLoader and related components Signed-off-by: Taekjin LEE <[email protected]> * feat: add diagnostic updater for voxel-based compare map filter and improve status reporting Signed-off-by: Taekjin LEE <[email protected]> * refactor: move isFeasibleWithPCLVoxelGrid function to VoxelGridMapLoader and streamline diagnostics handling Signed-off-by: Taekjin LEE <[email protected]> * feat: update diagnostic status handling in VoxelGridMapLoader and related components Signed-off-by: Taekjin LEE <[email protected]> * feat: enhance diagnostic status handling in voxel-based compare map filters Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * refactor: add comments for clarity on voxel number calculations and overflow checks Signed-off-by: Taekjin LEE <[email protected]> * Update perception/autoware_compare_map_segmentation/lib/voxel_grid_map_loader.cpp Co-authored-by: badai nguyen <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: yoshiri <[email protected]> Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: yoshiri <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: badai nguyen <[email protected]> * feat(lidar_transfusion): add diagnostics for processing time (#10398) * add processing time diagnostics Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * remove comment Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_multi_object_tracker): vehicle's ego frame as a parameter (#10428) Signed-off-by: Amadeusz Szymko <[email protected]> * fix(autoware_path_optimizer): incorrect application of input velocity due to badly mapping output trajectory to input trajectory (#10403) * Changes for proper input velocity application Signed-off-by: Arjun Jagdish Ram <[email protected]> * fix Signed-off-by: Arjun Jagdish Ram <[email protected]> --------- Signed-off-by: Arjun Jagdish Ram <[email protected]> * fix(control_evaluator): fix bugs about output_metrics (#10433) * add val,acc,jark to metrics Signed-off-by: xtk8532704 <[email protected]> * accumulate goal metrics only when stop at goal Signed-off-by: xtk8532704 <[email protected]> * fix bug of stop-related metrics Signed-off-by: xtk8532704 <[email protected]> * fix unit test. Signed-off-by: xtk8532704 <[email protected]> --------- Signed-off-by: xtk8532704 <[email protected]> * feat(tier4_localization_rviz_plugin): add colored_pose_with_covariance_history (#10271) * feat: add colored pose with covariance history Signed-off-by: kazu-321 <[email protected]> * fix: CMakeLists library name Signed-off-by: kazu-321 <[email protected]> * fix: transplant mistake Signed-off-by: kazu-321 <[email protected]> * fix: segmentation fault Signed-off-by: kazu-321 <[email protected]> * style(pre-commit): autofix * fix: visualization Signed-off-by: kazu-321 <[email protected]> * style(pre-commit): autofix * fix: include ci error Signed-off-by: kazu-321 <[email protected]> * fix: bug that occurred when re-enabling Signed-off-by: kazu-321 <[email protected]> * fix: copyright year Signed-off-by: kazu-321 <[email protected]> * feat: less (than min), greater (than max) value's color property Signed-off-by: kazu-321 <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: kazu-321 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(euclidean_cluster): add diagnostics warning when cluster skipped (#10278) * feat(euclidean_cluster): add diagnostics warning when cluster skipped due to excessive points from large objects Signed-off-by: lei.gu <[email protected]> * remove temporary code Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix Signed-off-by: lei.gu <[email protected]> * feat(euclidean_cluster): diagnostics modified to remove redundant info Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: lei.gu <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <[email protected]> * feat(radar_object_tracker): add diagnostics for checking radar input status (#10432) * add diagnostics Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.hpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * Update perception/autoware_radar_object_tracker/src/radar_object_tracker_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * Update perception/autoware_radar_object_tracker/config/radar_object_tracker.param.yaml Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * Update perception/autoware_radar_object_tracker/config/radar_object_tracker.param.yaml Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: a-maumau <[email protected]> * fix var name Signed-off-by: a-maumau <[email protected]> * change callback param name Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <[email protected]> * feat(autoware_autonomous_emergency_braking): created Schema file and updated ReadME file for parameters setting (#10002) Signed-off-by: vish0012 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <[email protected]> * feat(pointpainting_fusion): add diagnostics for processing time of pointpainting (#10397) * add diagnostics for pointpainting Signed-off-by: a-maumau <[email protected]> * add common params Signed-off-by: a-maumau <[email protected]> * add schema for common param Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * include diagnostic_msgs Signed-off-by: a-maumau <[email protected]> * fix typo Signed-off-by: a-maumau <[email protected]> * fix stop watch recording name Signed-off-by: a-maumau <[email protected]> * fix parameter and message Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(tier4_autoware_api_launch): launch tier4_deprecated_api_adapter (#10407) feat(tier4_autoware_api_launch): launch api adapter Signed-off-by: Takagi, Isamu <[email protected]> * chore(autoware_planning_evaluator): record goal_stop_deviation only when ego stop (#10429) * record modified_goal related output_metric only when the ego stop close to goal Signed-off-by: xtk8532704 <[email protected]> * change vel thr Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> --------- Signed-off-by: xtk8532704 <[email protected]> * ci: update versions in build_depends_humble.repos (#10437) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * perf(autoware_pointcloud_preprocessor): introduce managed transform buffer with implicitly defined listener type (#9197) * feat(autoware_universe_utils): rework managed transform buffer Signed-off-by: Amadeusz Szymko <[email protected]> * feat(autoware_pointcloud_preprocessor): integrate Managed TF Buffer into pointcloud densifier Signed-off-by: Amadeusz Szymko <[email protected]> * chore: update repos Signed-off-by: Amadeusz Szymko <[email protected]> * chore(managed_transform_buffer): fix version Signed-off-by: Amadeusz Szymko <[email protected]> --------- Signed-off-by: Amadeusz Szymko <[email protected]> Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(autoware_bevfusion): implementation of bevfusion using tensorrt (#10024) * feat: moved from personal repository https://github.com/knzo25/bevfusion_ros2 Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: added fp16 support. it is faster than centerpoint ! Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: spells and ci/cd Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more ci/cd Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: and yet more spells Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more spells Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated the schema Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reverted unintented change Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added documentation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated copyrights Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ci/cd fixes Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: missed on transfusion mention in bevfusion Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed another mention of transfusion in the launchers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: re enabled the standard paths for the ml models Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced stream references to pass by value Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: updated bevfusion to follow https://github.com/autowarefoundation/autoware_universe/pull/9595 Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused headers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated cases Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced the layout check in the package for the one in the autoware_point_types package Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added meta dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: bug in the camera mask Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: avoided tmp objects through proper use of emplace Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced nested namespaces for concatenated ones Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: made the operator a const one Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced the use of boost optionals for std ones Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a check for empty pointclouds Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: logging macros did not require stream Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: addressed better a border condition Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a check for empty sweep points (can happen when individual sweeps are bigger than the buffer's capacity) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused headers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced the computation of the number of blocks in a kernel since it was quite bad taste Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused variables from the kernel Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: forgot to apply the changes to the kernel call Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: deleted comments Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: deleted unused variable Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added autos Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: missing period Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: improved logging Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update perception/autoware_lidar_bevfusion/lib/bevfusion_trt.cpp Co-authored-by: Amadeusz Szymko <[email protected]> * chore: changed the name of the package from autoware_lidar_bevfusion to autoware_bevfusion since the model has both lidar and camera_lidar modalities Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: added final config files and launchers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * doc: finished documentation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated schemas Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: schemas Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: due to how schemas work, changed the names Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update perception/autoware_bevfusion/README.md Co-authored-by: Amadeusz Szymko <[email protected]> * fix: broken link Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed simlinks since the schema implementation matches the base name against a wildcard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: forgot mkdown Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: added oss links Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]> * feat(autoware_universe_utils): add intersect and getPoint for Point2d type (#10443) Signed-off-by: Maxime CLEMENT <[email protected]> * feat(ndt_scan_matcher): applied THROTTLE to frequent logs (#10430) Signed-off-by: RyuYamamoto <[email protected]> * chore(autoware_bevfusion): add maintainer (#10444) Signed-off-by: Amadeusz Szymko <[email protected]> * refactor(planning_validator): separate validation check for steering and steering rate (#10438) * feat(planning_validator): refactor steering validation parameters and add steering_rate check Signed-off-by: Kyoichi Sugahara <[email protected]> * fix(planning_validator): enable validity checks by default and initialize parameters Signed-off-by: Kyoichi Sugahara <[email protected]> * feat(planning_validator): add steering rate validation parameters to README Signed-off-by: Kyoichi Sugahara <[email protected]> * feat(planning_validator): add steering rate validity checks to node options Signed-off-by: Kyoichi Sugahara <[email protected]> --------- Signed-off-by: Kyoichi Sugahara <[email protected]> * feat(autoware_multi_object_tracker): implement time keeper (#10431) * feat(multi_object_tracker): integrate ScopedTimeTrack for detailed processing time tracking Signed-off-by: Taekjin LEE <[email protected]> * feat(multi_object_tracker): add parameter for detailed processing time publishing Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> * feat(perception_launch): add common param path for transfusion (#10434) add common_param_path Signed-off-by: a-maumau <[email protected]> Co-authored-by: Taekjin LEE <[email protected]> * docs(tier4_vehicle_launch): update individual_params reference in readme (#10442) Signed-off-by: M. Fatih Cırıt <[email protected]> * feat(autoware_tensorrt_plugins): created a package for tensorrt extensions (#10445) * feat: moved the plugins in bevfusion to a separate package since some of them will be reused Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * doc: doc regarding the plugins and the supported ops Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: wrong upper cases Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: wrong quotes Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed docs Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(static_obstacle_avoidance): return original lane automatically (#10231) Signed-off-by: satoshi-ota <[email protected]> * fix(autoware_multi_object_tracker): fix bicycle renovation vector dimension (#10449) fix a bug in updateStatePoseVel Signed-off-by: Taekjin LEE <[email protected]> * feat(traffic_light): restart suppression at traffic light stop_point (#10451) * feat: restart suppression at traffic light stop_point Signed-off-by: N-Eiki <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: N-Eiki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(object_merger): add diagnostics warning for timeout when merging (#10283) * feat(object_merger): add diagnostics warning for timeout when merge messages are incomplete Signed-off-by: lei.gu <[email protected]> * feat(object_merger): add parameters loading Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix Signed-off-by: lei.gu <[email protected]> * feat(object_merger): add schema parameters Signed-off-by: lei.gu <[email protected]> * feat(object_merger): 1. add initialization timeout check 2. handle for now() uninitialized problem in constructor 3. threshold tuned Signed-off-by: lei.gu <[email protected]> * feat(object_merger): threshold modified and schema accordingly Signed-off-by: lei.gu <[email protected]> * feat(object_merger): check both interval and elapsed time Signed-off-by: lei.gu <[email protected]> * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: lei.gu <[email protected]> * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: lei.gu <[email protected]> * feat(object_merger): only update the message arrival timing in objectCallback Signed-off-by: lei.gu <[email protected]> * feat(object_merger): checkstatus impl moved to diagcallback Signed-off-by: lei.gu <[email protected]> * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: lei.gu <[email protected]> * Update perception/autoware_object_merger/src/object_association_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix Signed-off-by: lei.gu <[email protected]> --------- Signed-off-by: lei.gu <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Taekjin LEE <[email protected]> * fix(autoware_tensorrt_yolox): explicitly install shared library (#10454) * chore: update CODEOWNERS (#10452) Signed-off-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com> Co-authored-by: github-actions <[email protected]> * feat(tensorrt_yolox): add autoware_utils packages (#10460) Signed-off-by: t4-adc <[email protected]> Co-authored-by: t4-adc <[email protected]> * feat(control_validator): add over run estimation feature (#10422) Signed-off-by: Yuki Takagi <[email protected]> * feat(out_of_lane): revise logic for using previous stop pose (#10446) * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * maintain a buffer of slowdown poses and use nearest one Signed-off-by: mohammad alqudah <[email protected]> * fix duration check condition Signed-off-by: mohammad alqudah <[email protected]> * rename parameter Signed-off-by: mohammad alqudah <[email protected]> * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b. * fix logic to get nearest slowdown pose Signed-off-by: mohammad alqudah <[email protected]> * initialize struct member Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]> Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Yutaka Kondo <[email protected]> * feat(out_of_lane): add ttc threshold for releasing stop decision (#10447) * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * use different ttc threshold value once stop decision is made Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b. * fix spelling Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]> Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Yutaka Kondo <[email protected]> * feat(out_of_lane): implement min duration to activate stop action (#10448) * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * maintain a buffer of slowdown poses and use nearest one Signed-off-by: mohammad alqudah <[email protected]> * fix duration check condition Signed-off-by: mohammad alqudah <[email protected]> * implement stop pose activation time buffer Signed-off-by: mohammad alqudah <[email protected]> * refactor code to avoid reduce loops Signed-off-by: mohammad alqudah <[email protected]> * fix logic Signed-off-by: mohammad alqudah <[email protected]> * use different ttc threshold value once stop decision is made Signed-off-by: mohammad alqudah <[email protected]> * rename parameter Signed-off-by: mohammad alqudah <[email protected]> * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b. * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b. * fix logic to get nearest slowdown pose Signed-off-by: mohammad alqudah <[email protected]> * fix merge errors Signed-off-by: mohammad alqudah <[email protected]> * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * maintain a buffer of slowdown poses and use nearest one Signed-off-by: mohammad alqudah <[email protected]> * fix duration check condition Signed-off-by: mohammad alqudah <[email protected]> * rename parameter Signed-off-by: mohammad alqudah <[email protected]> * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b. * fix logic to get nearest slowdown pose Signed-off-by: mohammad alqudah <[email protected]> * initialize struct member Signed-off-by: mohammad alqudah <[email protected]> * remove obsolete lanelet selection logic Signed-off-by: mohammad alqudah <[email protected]> * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * use different ttc threshold value once stop decision is made Signed-off-by: mohammad alqudah <[email protected]> * fix format Signed-off-by: mohammad alqudah <[email protected]> * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 871a8540ade845c7c9a193029d407b411a4d685b. * fix spelling Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]> Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Yutaka Kondo <[email protected]> Co-authored-by: GitHub Action <[email protected]> * feat: reduce warn log frequency (#10414) * feat: limit warning message frequency to 3.0 sec * refactor: use THROTTLE ERROR macro fix: reduce code complexity --------- Co-authored-by: Jian Kang <[email protected]> * fix(multi_object_tracker): add required headers (#10461) Signed-off-by: Takagi, Isamu <[email protected]> * fix(radar_object_tracker): add required headers (#10463) Signed-off-by: Takagi, Isamu <[email protected]> * fix(simple_object_merger): add approximatefilter (#10462) * fix(simple_object_merger): add approximatefilter Signed-off-by: badai-nguyen <[email protected]> * Update perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> * Update perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> * Update perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> * Update perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp Co-authored-by: Taekjin LEE <[email protected]> * Update perception/autoware_simple_object_merger/src/simple_object_merger_node.hpp Co-authored-by: Taekjin LEE <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> Co-authored-by: Taekjin LEE <[email protected]> * feat(multi object tracker): tracker overlap threshold (#10456) * preparation Signed-off-by: Taekjin LEE <[email protected]> * feat(autoware_multi_object_tracker): enhance matrix initialization and add debug logging for tracker removal Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): replace vector matrices with Eigen matrices in AssociatorConfig Signed-off-by: Taekjin LEE <[email protected]> * feat(autoware_multi_object_tracker): integrate max distance matrix for tracker removal logic Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove debug logging for tracker removal process Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove unused string include in association.cpp Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove commented debug logging in association.cpp Signed-off-by: Taekjin LEE <[email protected]> * refactor(autoware_multi_object_tracker): remove distance_threshold parameter and update related configurations Signed-off-by: Taekjin LEE <[email protected]> * refactor(multi_object_tracker_node): change Eigen::Map to use const for matrix initialization Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * build(autoware_planning_validator): fix missing angles dependency (#10479) Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_path_optimizer): fix missing diagnostic_updater dependency (#10478) Signed-off-by: Esteve Fernandez <[email protected]> * build(autoware_radar_object_tracker): fix missing diagnostic_updater dependency (#10480) Signed-off-by: Esteve Fernandez <[email protected]> * feat(autoware_path_optimizer): created the schema file,updated the readme file (#10123) Signed-off-by: vish0012 <[email protected]> Signed-off-by: Ryohsuke Mitsudome <[email protected]> * refactor(mpc_lateral_controller): rework parameter (#8935) Signed-off-by: prakash-kannaiah <[email protected]> Signed-off-by: mitsudome-r <[email protected]> * refactor(ground_segmentation): rework parameter (#8988) Signed-off-by: prakash-kannaiah <[email protected]> Signed-off-by: Ryohsuke Mitsudome <[email protected]> * fix(autoware_image_projection_based_fusion): add missing params `common_param_path` when not use container (#10499) add missing params common_param_path when not use container Signed-off-by: MasatoSaeki <[email protected]> * fix(control): apply THROTTLE to frequent log (#10418) * fix(control): apply THROTTLE to frequent log Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]> * feat(autoware_object_velocity_splitter): created the schema file, updated the readme file (#10098) * feat(autoware_object_velocity_splitter): Created the schema file, updated the readme file Signed-off-by: vish0012 <[email protected]> * style(pre-commit): autofix * fix: update json schema to pass ci Signed-off-by: Ryohsuke Mitsudome <[email protected]> * fix: typo Signed-off-by: Ryohsuke Mitsudome <[email protected]> --------- Signed-off-by: vish0012 <[email protected]> Signed-off-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> * fix(process_monitor): get process statistics directly from /proc files to avoid process spawning of Linux commands (#10379) * Process_monitor gets process stastistics directly from /proc files to avoid calling Linux commands. * Removed use of boost::process::child and Linux commands (top, sort, sed, pipe, echo). * Imporoved unit testing. Signed-off-by: Masaki NISHIKAWA <[email protected]> * style(pre-commit): autofix * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * fixed issues reported by cpplint. Signed-off-by: Masaki NISHIKAWA <[email protected]> * style(pre-commit): autofix * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Reduced complexity of the source files. Signed-off-by: Masaki NISHIKAWA <[email protected]> * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Fixed problems reported by cppcheck-differential.yaml. Signed-off-by: Masaki NISHIKAWA <[email protected]> * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Fixed a problem reported by build-and-test-packages-above-differential. Signed-off-by: Masaki NISHIKAWA <[email protected]> * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Fixed a problem reported by build-and-test-packages-above-differential again. Signed-off-by: Masaki NISHIKAWA <[email protected]> * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Fixed spelling problems. Signed-off-by: Masaki NISHIKAWA <[email protected]> * style(pre-commit): autofix * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Fixed a problem reported by CodeScene (bumpy_load_ahead) Signed-off-by: Masaki NISHIKAWA <[email protected]> * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Fixed spelling problems again because the spell checker doesn't allow the following words. ** statm (file name) ** cminflt, cmajflt (field name) ** itrealvalue (field name) ** ROS2 (forbidden) Signed-off-by: Masaki NISHIKAWA <[email protected]> * style(pre-commit): autofix * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Removed unused test data dummy_proc1.tar.bz2. * Fixed test data dummy_proc_stat_comm_variations.tar.bz2 * "a option" -> "an option" * Removing read permission from cmdline to make it unreadable is not sufficient for unit testing by GitHub Actions. Made cmdline file empty. Signed-off-by: Masaki NISHIKAWA <[email protected]> * fix/(process_monitor) : Get process stastistics directly from /proc files to avoid calling Linux commands. * Added "// cspell:ignore statm" for GitHub CI spelling-check because /proc/[pid]/statm can't be changed. Signed-off-by: Masaki NISHIKAWA <[email protected]> --------- Signed-off-by: Masaki NISHIKAWA <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * chore: bump version to 0.44.0 (#10501) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * ci: fix conditions of prepare build_depends.repos file (main branch) (#10502) Signed-off-by: Fumiya Watanabe <[email protected]> * feat(planning_validator): add lateral jerk validation feature (#10440) * feat(planning_validator): add lateral jerk validation and associated parameters Signed-off-by: Kyoichi Sugahara <[email protected]> --------- Signed-off-by: kyoichi-sugahara <[email protected]> * feat(planning_validator): check for sudden shift in planning trajectory (#10339) * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * implement function to check for sudden shift in trajectory Signed-off-by: mohammad alqudah <[email protected]> * syntax and format fixes Signed-off-by: mohammad alqudah <[email protected]> * add diagnostic for trajectory shift Signed-off-by: mohammad alqudah <[email protected]> * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * refactor planning validator parameters Signed-off-by: mohammad alqudah <[email protected]> * check enable flag for all validity checks Signed-off-by: mohammad alqudah <[email protected]> * add missing parameters Signed-off-by: mohammad alqudah <[email protected]> * add soft stop feature to planning validator Signed-off-by: mohammad alqudah <[email protected]> * add missing path in planning diagnostic config Signed-off-by: mohammad alqudah <[email protected]> * add debug markers and clean up code Signed-off-by: mohammad alqudah <[email protected]> * Revert "chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776)" This reverts commit 7badf6e90d0bb1002527c409b62db61cd8b44f37. * set trajectory shift values in validation status Signed-off-by: mohammad alqudah <[email protected]> * update planning validator readme Signed-off-by: mohammad alqudah <[email protected]> * update planning validator test Signed-off-by: mohammad alqudah <[email protected]> * run pre-commit checks Signed-off-by: mohammad alqudah <[email protected]> * add missing include Signed-off-by: mohammad alqudah <[email protected]> * add unit test for trajectory shift check Signed-off-by: mohammad alqudah <[email protected]> * properly set is_critical_error_ flag for all checks Signed-off-by: mohammad alqudah <[email protected]> * Update planning/autoware_planning_validator/include/autoware/planning_validator/parameters.hpp Co-authored-by: Satoshi OTA <[email protected]> * revise logic for setting longitudinal shift value Signed-off-by: mohammad alqudah <[email protected]> * fix longitudinal shift check to prevent false positive at end of path Signed-off-by: mohammad alqudah <[email protected]> * improve stop trajectory computation Signed-off-by: mohammad alqudah <[email protected]> * fix spelling Signed-off-by: mohammad alqudah <[email protected]> * fix test files Signed-off-by: mohammad alqudah <[email protected]> * fix node interface tests and pubsub tests Signed-off-by: mohammad alqudah <[email protected]> --------- Signed-off-by: Yutaka Kondo <[email protected]> Signed-off-by: mohammad alqudah <[email protected]> Co-authored-by: Yutaka Kondo <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> * fix(autoware_system_monitor): quick fix for autoware_system_monitor (#10506) * feat(autoware_system_monitor): quick fix, autoware_system_monitor, fix sompile issue : v0.0 Signed-off-by: liuXinGangChina <[email protected]> * feat(autoware_system_monitor): quick fix, autoware_system_monitor, add comment by sasaki san: v0.1 Signed-off-by: liuXinGangChina <[email protected]> --------- Signed-off-by: liuXinGangChina <[email protected]> * feat(motion_velocity_planner): add new run_out module (#10388) Signed-off-by: Maxime CLEMENT <[email protected]> * fix(control_validator): fix less trajectory point check (#10508) Signed-off-by: yuki-takagi-66 <[email protected]> * feat(autoware_motion_velocity_planner): point-cloud clustering optimization (#10477) * Point-Cloud clustering optimization Signed-off-by: Arjun Jagdish Ram <[email protected]> * style(pre-commit): autofix * fix Signed-off-by: Arjun Jagdish Ram <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Arjun Jagdish Ram <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513) * feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion Signed-off-by: Amadeusz Szymko <[email protected]> * fix(autoware_lidar_transfusion): clang-tidy errors Signed-off-by: Amadeusz Szymko <[email protected]> --------- Signed-off-by: Amadeusz Szymko <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * feat(autoware_pointcloud_preprocessor): templated version of the pointcloud concatenation (#10298) * feat: refactored the concat into a templated design to allow cuda implementations and extend it to radars Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: moved the concat cpp for consistency and component loading Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: missing virtual destructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed missing dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused var Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: refactored the cloud handler Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated documentation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed rebase error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed commented include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed another rebase error induced print Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: and yet another rebase induced error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed method name Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removing key from dict for peace of mind Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reimplemented latest changes in the base branch Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: missed dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: spell Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed explicit template instantiation since clang tidy reported it was being done implicitly and thus redundant Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added documentation regarding why allocation is done right after publishing Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced at for extract+mapped Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: moved format_timestamp into its own file Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation (#10300) * feat: cuda accelerated version of the pointcloud concatenation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed duplicated include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed to header blocks from pragmas :c Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed yaml and schema since this node uses the same interface as the non-gpu node Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed rebased induced error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: used the wrong point type Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed pointer to auto Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: rewrote equation for clarity Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a comment regarding the reallocation strategy Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reflected latest changes in the templated version of the concat Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: addressed cppcheck reports Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed dead link Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: solving uncrustify conflicts Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: yet another uncrustify related error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: hopefully last uncrustify error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: now fixing uncrustify on source files Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(autoware_cuda_pointcloud_preprocessor): replace imu and twist callback with polling subscriber (#10509) * feat(cuda_pointcloud_preprocessor): replace subscriptions with InterProcessPollingSubscriber for twist and IMU data Signed-off-by: Takahisa.Ishikawa <[email protected]> * fix(cuda_pointcloud_preprocessor): remove unused twist_queue_ variable Signed-off-by: Takahisa.Ishikawa <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Takahisa.Ishikawa <[email protected]> Co-authored-by: Takahisa.Ishikawa <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * feat(blind_spot): extend attention area to straight lanelet (#10450) Signed-off-by: Mamoru Sobue <[email protected]> * feat(autoware_traffic_light_selector): new matching algorithm and unit test (#10352) * refactor and test Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix Signed-off-by: MasatoSaeki <[email protected]> * add dependency Signed-off-by: MasatoSaeki <[email protected]> * unnecessary dependency Signed-off-by: MasatoSaeki <[email protected]> * chore Signed-off-by: MasatoSaeki <[email protected]> * fix typo Signed-off-by: MasatoSaeki <[email protected]> * remove change in category_merger Signed-off-by: MasatoSaeki <[email protected]> * chnage var name Signed-off-by: MasatoSaeki <[email protected]> * add validation shiftRoi Signed-off-by: MasatoSaeki <[email protected]> * add new matching algo Signed-off-by: MasatoSaeki <[email protected]> * modify unittest Signed-off-by: MasatoSaeki <[email protected]> * remove unnecessary file Signed-off-by: MasatoSaeki <[email protected]> * change type from uint8_t to int64_t Signed-off-by: MasatoSaeki <[email protected]> * change variable name in looping Co-authored-by: badai nguyen <[email protected]> Signed-off-by: MasatoSaeki <[email protected]> * use move instead of copy Co-authored-by: badai nguyen <[email protected]> Signed-off-by: MasatoSaeki <[email protected]> * change variable name in utils Signed-off-by: MasatoSaeki <[email protected]> * apply header file Signed-off-by: MasatoSaeki <[email protected]> * to pass cppcheck Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: badai nguyen <[email protected]> * refactor(operation_mode_transition_manager): less member variable (#10453) * refactor(operatoin_mode_transition_manager): remove unnecessary member variable Signed-off-by: Takayuki Murooka <[email protected]> * implement InputData Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * fix Signed-off-by: Takayuki Murooka <[email protected]> * resolve the reviews Signed-off-by: Takayuki Murooka <[email protected]> * add maintainer Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]> * build(autoware_elevation_map_loader): add map_msgs dependency (#10533) Signed-off-by: Esteve Fernandez <[email protected]> * perf(autoware_tensorrt_common): set cudaSetDeviceFlags explicitly (#10523) * Synchronize CUDA stream by blocking instead of spin * Use blocking-sync in BEVFusion * Call cudaSetDeviceFlags in tensorrt_common * feat(operation_mode_transition_manager): add timeout of the input (#10457) fix(operation_mode_transition_manager): add timeout for the input Signed-off-by: Takayuki Murooka <[email protected]> * refactor(virtual_traffic_light, QC): replace checkCollision with autoware_utils_geometry (#10524) Signed-off-by: Mamoru Sobue <[email protected]> * chore(motion_velocity_run_out): add diagnostic_updater for dependency resolve (#10535) Signed-off-by: Mamoru Sobue <[email protected]> * chore(simulator.launch): remove params of traffic_light_selector (#10536) remove params Signed-off-by: MasatoSaeki <[email protected]> * fix(image_projection_based_fusion): fix redundantAssignment warning (#10531) Signed-off-by: Ryuta Kambe <[email protected]> * fix(autoware_gyro_odometer): fix deprecated autoware_utils header (#10494) * fix autoware_utils header Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * fix autoware_utils packages Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(autoware_pose_instability_detector ): fix deprecated autoware_utils header (#10518) fix autoware_utils header Signed-off-by: kazu-321 <[email protected]> Co-authored-by: RyuYamamoto <[email protected]> * fix(autoware_ndt_scan_matcher): fix deprecated autoware_utils header (#10512) * fix autoware_utils header Signed-off-by: kazu-321 <[email protected]> * style(pre-commit): autofix * Update localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: RyuYamamoto <[email protected]> * Update localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp Co-authored-by: RyuYamamoto <[email protected]> * fix: add autoware_utils_logging to package.xml Signed-off-by: kazu-321 <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: kazu-321 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: RyuYamamoto <[email protected]> * fix(localization_error_monitor): fix deprecated autoware_utils header (#10498) * fix autoware_utils header Signed-off-by: a-maumau <[email protected]> * style(pre-commit): autofix * fix autoware_utils packages Signed-off-by: a-maumau <[email protected]> --------- Signed-off-by: a-maumau <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: RyuYamamoto <[email protected]> * fix(multi_object_tracker): remove unused function isChannelSpawnEnabled (#10528) Signed-off-by: Ryuta Kambe <[email protected]> * fix(multi_object_tracker): remove unused function getMeasurementYaw (#10527) Signed-off-by: Ryuta Kambe <[email protected]> * feat(autoware_simple_object_merger): created Schema file and updated ReadME file for parameters setting (#9993) * feat(autoware_simple_object_merge…
…autowarefoundation#10300) * feat: cuda accelerated version of the pointcloud concatenation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed duplicated include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed to header blocks from pragmas :c Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed yaml and schema since this node uses the same interface as the non-gpu node Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed rebased induced error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: used the wrong point type Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed pointer to auto Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: rewrote equation for clarity Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a comment regarding the reallocation strategy Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reflected latest changes in the templated version of the concat Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: addressed cppcheck reports Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed dead link Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: solving uncrustify conflicts Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: yet another uncrustify related error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: hopefully last uncrustify error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: now fixing uncrustify on source files Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
…ntcloud preprocessor (#2037) * feat(autoware_pointcloud_preprocessor): templated version of the pointcloud concatenation (autowarefoundation#10298) * feat: refactored the concat into a templated design to allow cuda implementations and extend it to radars Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: moved the concat cpp for consistency and component loading Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: missing virtual destructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed missing dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused var Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: refactored the cloud handler Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated documentation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed rebase error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed commented include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed another rebase error induced print Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: and yet another rebase induced error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed method name Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removing key from dict for peace of mind Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reimplemented latest changes in the base branch Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: missed dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: spell Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed explicit template instantiation since clang tidy reported it was being done implicitly and thus redundant Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added documentation regarding why allocation is done right after publishing Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: replaced at for extract+mapped Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: moved format_timestamp into its own file Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation (autowarefoundation#10300) * feat: cuda accelerated version of the pointcloud concatenation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed duplicated include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed to header blocks from pragmas :c Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed yaml and schema since this node uses the same interface as the non-gpu node Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed rebased induced error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: used the wrong point type Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed pointer to auto Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: rewrote equation for clarity Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a comment regarding the reallocation strategy Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reflected latest changes in the templated version of the concat Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: addressed cppcheck reports Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed dead link Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: solving uncrustify conflicts Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: yet another uncrustify related error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: hopefully last uncrustify error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: now fixing uncrustify on source files Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
…autowarefoundation#10300) * feat: cuda accelerated version of the pointcloud concatenation Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed duplicated include Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed to header blocks from pragmas :c Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed yaml and schema since this node uses the same interface as the non-gpu node Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed rebased induced error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: used the wrong point type Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed pointer to auto Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: rewrote equation for clarity Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a comment regarding the reallocation strategy Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: reflected latest changes in the templated version of the concat Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: addressed cppcheck reports Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed dead link Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: solving uncrustify conflicts Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: yet another uncrustify related error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: hopefully last uncrustify error Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: now fixing uncrustify on source files Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Description
NOTE: #10298 needs to be merged before this PR
The beforementioned PR templated the pointcloud concatenation, which this PR exploits to implement the cuda version is as little code duplication as possible.
This is part of the series of PR related to #9722
List of PRs:
Depending on your machine and how many nodes are in a container, the following branch may also be required:
https://github.com/knzo25/launch_ros/tree/fix/load_composable_node
There seems to be a but in ROS where if you send too many services at once some will be lost and
ros_launch
can not handle that.Related links
Parent Issue:
How was this PR tested?
The sensing/perception pipeline was tested until centerpoint for TIER IV's taxi using the logging simulator.
The following tests were executed in a laptop equipped with a RTX 4060 (laptop) GPU and a Intel(R) Core(TM) Ultra 7 165H (22 cores)
(2.03 are H->D copies)
10.26 speedup!
Notes for reviewers
The main branch that I used for development is
feat/cuda_acceleration_and_transport_layer2
.However, the changes were too big so I split the PRs. That being said, development, if any will still be on that branch (and then cherrypicked to the respective PRs), and the review changes will be cherrypicked into the development branch.
Notes for reviewers
None.
Interface changes
None.
Effects on system behavior
None.