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knzo25
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@knzo25 knzo25 commented Mar 19, 2025

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)

Node / processing time [ms] Current PR
/sensing/lidar/top/crop_box_filter_self/debug/processing_time_ms 5.81 N/A
/sensing/lidar/top/crop_box_filter_mirror/debug/processing_time_ms 4.59 N/A
/sensing/lidar/top/distortion_corrector/debug/processing_time_ms 10.96 N/A
/sensing/lidar/top/ring_outlier_filter/debug/processing_time_ms 10.69 N/A
/sensing/lidar/top/cuda_pointcloud_preprocessor/debug/processing_time_ms N/A 3.08
(2.03 are H->D copies)
/sensing/lidar/concatenate_data_synchronizer/debug/processing_time_ms 7.83 0.70
Total 38.8 3.78

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.

@knzo25 knzo25 requested a review from amadeuszsz March 19, 2025 01:17
@knzo25 knzo25 self-assigned this Mar 19, 2025
@github-actions github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Mar 19, 2025
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github-actions bot commented Mar 19, 2025

Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

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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.

  • Slightly out of scope, but I see some high delays for cuda pointcloud preprocessor, is this because of how cuda allocates resources? If so, are we OK to just ignore it?
    Screenshot from 2025-03-26 09-18-25

knzo25 added 7 commits March 28, 2025 19:32
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]>
@knzo25 knzo25 requested a review from amadeuszsz March 28, 2025 10:37
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knzo25 commented Mar 28, 2025

@amadeuszsz
As discussed in person, the data you showed me was simply not covered by the algorithm (the problem also appeared in the base implementation). Can you update your comments based on this new evidence?

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LGTM!

@knzo25 knzo25 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Apr 22, 2025
knzo25 added 5 commits April 22, 2025 14:04
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]>
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codecov bot commented Apr 22, 2025

Codecov Report

Attention: Patch coverage is 0% with 140 lines in your changes missing coverage. Please review.

Project coverage is 24.81%. Comparing base (1a1d41b) to head (a17d858).
Report is 3 commits behind head on main.

Files with missing lines Patch % Lines
...da_concatenate_data/cuda_combine_cloud_handler.cpp 0.00% 114 Missing ⚠️
...enate_data/cuda_concatenate_and_time_sync_node.cpp 0.00% 15 Missing ⚠️
...catenate_data/cuda_combine_cloud_handler_kernel.cu 0.00% 7 Missing ⚠️
...enate_data/cuda_concatenate_and_time_sync_node.hpp 0.00% 3 Missing ⚠️
...da_concatenate_data/cuda_combine_cloud_handler.hpp 0.00% 1 Missing ⚠️
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     
Flag Coverage Δ *Carryforward flag
differential-cuda 0.00% <0.00%> (?)
total 24.95% <ø> (+0.01%) ⬆️ Carriedforward from b7b7fc5

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

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@knzo25 knzo25 merged commit a6d5003 into autowarefoundation:main Apr 22, 2025
34 of 36 checks passed
@github-project-automation github-project-automation bot moved this from To Triage to Done in Software Working Group Apr 22, 2025
TaikiYamada4 added a commit to tier4/autoware_universe that referenced this pull request May 12, 2025
* fix: add irregular object detector pipeline (#10369)

* feat: add small unknown object detector pipeline

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* chore: rename param

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* refactor: camera lidar detector launch.xml

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* chore: change default fusion camera ids

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* fix: camera_lidar_detector launch

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* fix: update rois_timestamp_offsets param name

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* chore: pre-commit

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* fix: spelling

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* separete unknown pipeline

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* style(pre-commit): autofix

* fix: sync param

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* fix: change to simple object merger

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* fix: fusion param

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* refactor: change file name

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* refactor: rename topic and ns

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* chore: unify naming

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* refactor cameara lidar merger

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* fix: camera_lidar_radar merger

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* style(pre-commit): autofix

* refactor: image_topic_name

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* refactor: param path update

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* fix: irregular object switch

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* fix: missing param

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* fix: missing param

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* fix: move roi_pointcloud_fusion out of container

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---------

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* 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

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* style(pre-commit): autofix

* add ms in name

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* fix cppcheck error

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* change parameter name

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* change structure

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* change var name

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* change config related part

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* fix typo

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* change launch arg name

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* add schema file

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* refactor(autoware_lidar_centerpoint): remove unused is_processing_delayed_ variable

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* add processing time in diag.

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* style(pre-commit): autofix

* refactor

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* style(pre-commit): autofix

* use diagnostic_updater instead of timer callback

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* style(pre-commit): autofix

* change validation_callback_interval_ms type to number

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* Update perception/autoware_lidar_centerpoint/src/node.cpp

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* 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

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* fix: simplify lateral acceleration calculation using std::hypot

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---------

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* fix(lidar_marker_localizer): fix typo in launch file (#10405)

fix typo

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* fix(start_planner): use waypoints as centerline if available (#10238)

* fix(start_planner): use waypoints as centerline if available

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* update function name

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* rename function name

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---------

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* feat(autoware_planning_evaluator): refactor planning_evaluator for new metrics (#10368)

* tmp save.

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* tmp save.

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* WIP add accumulator-based metrics.

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* pre-commit

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* add unit test.

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* pre-commit

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* fix cppcheck

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* update readme.

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* pre-commit

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* polish readme.

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* pre-commit

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* change count to size_t

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* update config.

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* publish count.

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* fix stop decision bug

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* update parameters.

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* fix typo

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---------

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* refactor(planning_validator): restructure planning validator configuration (#10401)

* refactor planning validator parameters

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* check enable flag for all validity checks

Signed-off-by: mohammad alqudah <[email protected]>

* add missing parameters

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* add debug markers and clean up code

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* update planning validator readme

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* update planning validator test

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* properly set is_critical_error_ flag for all checks

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* Update planning/autoware_planning_validator/include/autoware/planning_validator/parameters.hpp

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* run pre-commit checks

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* fix cherry-pick errors

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* remove unnecessary cherry-pick changes

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---------

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* 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

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---------

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)

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* 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

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* chore: update CODEOWNERS (#10266)

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* 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_

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* style(pre-commit): autofix

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* feat(probabilistic_occupancy_grid_map): fix reading parameters and add schema

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* style(pre-commit): autofix

* feat(probabilistic_occupancy_grid_map):1. add tolerance duration  2. change to process time

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* feat(probabilistic_occupancy_grid_map): modification since it is clear that the target isprocess time

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* style(pre-commit): autofix

---------

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* 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

---------

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* 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

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* refactor: add comments for clarity on voxel number calculations and overflow checks

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* fix

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---------

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---------

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---------

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---------

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---------

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---------

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---------

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* 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)

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* fix(radar_object_tracker): add required headers (#10463)

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* Update perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp

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* Update perception/autoware_simple_object_merger/src/simple_object_merger_node.cpp

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---------

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* feat(multi object tracker): tracker overlap threshold (#10456)

* preparation

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* build(autoware_path_optimizer): fix missing diagnostic_updater dependency (#10478)

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* 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

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* fix(control): apply THROTTLE to frequent log

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* fix

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* fix

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* fix

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---------

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* 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

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** statm (file name)
** cminflt, cmajflt (field name)
** itrealvalue (field name)
** ROS2 (forbidden)

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  * "a option" -> "an option"
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* feat(planning_validator): add lateral jerk validation and associated parameters

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---------

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not sync github-release

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---------

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* fix(autoware_system_monitor): quick fix for autoware_system_monitor (#10506)

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---------

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* feat(autoware_lidar_transfusion): introduce cuda blackboard to transfusion (#10513)

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---------

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---------

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---------

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* 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…
KYabuuchi pushed a commit to tier4/autoware_universe that referenced this pull request May 19, 2025
…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]>
rej55 pushed a commit to tier4/autoware_universe that referenced this pull request May 19, 2025
…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]>
mkquda pushed a commit to tier4/autoware_universe that referenced this pull request Jun 16, 2025
…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]>
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