feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453

knzo25 · 2024-11-25T08:25:27Z

Description

This is part of the series of PR related to #9722

List of PRs:

feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor #9454 (pointcloud preprocessing)
feat(autoware_pointcloud_preprocessor): templated version of the pointcloud concatenation #10298 (concatenation - template refactor)
feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation #10300 (concatenation - cuda version)
feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453 (centerpoint)
transfusion (TODO)
feat(autoware_probabilistic_occupancy_grid_map): cuda accelerated implementation #9542 (OGM - the first implementation will be independent of the blackboard to ease the transition)
feat: acceleration and transport layer tier4/aip_launcher#348 (aip_launcher)
feat: acceleration and transport layer sample_sensor_kit_launch#111 (sample_sensor_kit_launch)

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.

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_organized_pointcloud_adapter/debug/processing_time_ms	N/A	3.75
/sensing/lidar/top/cuda_pointcloud_preprocessor/debug/processing_time_ms	N/A	1.00
/sensing/lidar/concatenate_data_synchronizer/debug/processing_time_ms	7.83	0.70
Total	38.8	5.45

Notes for reviewers

Note 1:
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.

Note 2:
Now that the cuda blackboard itself has been added to autoware, this PR can be tested in a standalone fashion as well

Note 3:
Due to a missing feature in the blackboard, the following version is needed for now: autowarefoundation/cuda_blackboard#1
How that feature will be merged into autoware is explained in the respective PR

Interface changes

An additional topic is added to perform type negotiation:
Example: input/pointcloud -> input/pointcloud and input/pointcloud/cuda

Effects on system behavior

Enabling this preprocessing in the launchers should provide a much reduced latency and cpu usage (at the cost of a higher GPU usage)

…point Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

github-actions · 2024-11-25T08:25:45Z

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kminoda · 2024-11-26T00:03:16Z

@knzo25 Thank you for your great work 🎉

Do you have any documentation for the cuda_blackboard package? Just a simple API references and overall design in a readme would be helpful to review the PRs.

knzo25 · 2024-11-26T00:09:21Z

@kminoda
Yes, sorry. I am adding some results (processing time, memory consumption, cpu use), documentation, etc as of now, but wanted to open the PRs before to the the ball moving

knzo25 · 2024-12-13T10:33:33Z

@kminoda
Added the cuda_blackboard documentation in https://github.com/knzo25/cuda_blackboard.
As discussed internally, I will create an issue to manage and discuss about this series of PRs

…terpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

perception/autoware_lidar_centerpoint/src/node.cpp

...eption/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

amadeuszsz

Great improvement, as cuda blackboard is 🚀! Apart from review comments, please take a look on pre-commit log (missing header).

perception/autoware_lidar_centerpoint/include/autoware/lidar_centerpoint/centerpoint_trt.hpp

perception/autoware_lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

…autoware.universe into feat/cuda_blackboard_centerpoint

amadeuszsz

LGTM for centerpoint!

knzo25 · 2025-03-24T00:13:55Z

This PR can be safely merged once autowarefoundation/autoware#5924 is merged and is tested with the perception evaluator

…rt the blackboard yet) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

… the blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

knzo25 · 2025-03-24T04:25:35Z

Executing the evaluator here : TIERIV INTERNAL LINK

Update: tests pass

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

…autoware.universe into feat/cuda_blackboard_centerpoint

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

…autoware.universe into feat/cuda_blackboard_centerpoint

knzo25 · 2025-03-25T04:25:27Z

@YoshiRi @badai-nguyen @tzhong518
Tested both centerpoint and pointpainting and they are publishing detections. I think that should be enough test for this PR

badai-nguyen

@knzo25
Thank you for your great work 👍
LGTM regarding image_projection_based_fusion since it just a copy of original detect function from original centerpoint_trt.cpp.
I just have a couples of NITs.

...eption/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp

…nting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]>

…point (autowarefoundation#9453) * feat: introduced the cuda transport layer (cuda blackboard) to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed compilation issue on pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed compile errors in the ml models Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed standalone non-composed launcher Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ci/cd Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: clang tidy related fix Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed non applicable override (point painting does not support the blackboard yet) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: temporarily ignoring warning until pointpainting also supports the blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ignoring spell Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: removed the deprecated compatible subs option in the constructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: bump the cuda blackboard version in the build depends Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]> Co-authored-by: badai nguyen <[email protected]>

…point (autowarefoundation#9453) * feat: introduced the cuda transport layer (cuda blackboard) to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed compilation issue on pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed compile errors in the ml models Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed standalone non-composed launcher Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ci/cd Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: clang tidy related fix Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed non applicable override (point painting does not support the blackboard yet) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: temporarily ignoring warning until pointpainting also supports the blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ignoring spell Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: removed the deprecated compatible subs option in the constructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: bump the cuda blackboard version in the build depends Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]> Co-authored-by: badai nguyen <[email protected]> Signed-off-by: MasatoSaeki <[email protected]>

…point (autowarefoundation#9453) * feat: introduced the cuda transport layer (cuda blackboard) to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed compilation issue on pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed compile errors in the ml models Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed standalone non-composed launcher Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ci/cd Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: clang tidy related fix Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed non applicable override (point painting does not support the blackboard yet) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: temporarily ignoring warning until pointpainting also supports the blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ignoring spell Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: removed the deprecated compatible subs option in the constructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: bump the cuda blackboard version in the build depends Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]> Co-authored-by: badai nguyen <[email protected]>

* fix(docker-build-test-tidy-pr.yaml): use `step-security/changed-files` action instead (#10279) use step-security Signed-off-by: Yutaka Kondo <[email protected]> * feat(traffic_light_classifier): update diagnostics when harsh backlight is detected (#10218) feat: update diagnostics when harsh backlight is detected Signed-off-by: ktro2828 <[email protected]> * fix(obstacle stop/slow_down): early return without point cloud (#10289) * fix(obstacle stop/slow_down): early return without point cloud Signed-off-by: Takayuki Murooka <[email protected]> * update maintainer Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]> * fix(obstacle_stop): use max_lat_margin_against_unknown only for predicted object (#10269) Signed-off-by: Takayuki Murooka <[email protected]> * fix(autoware_multi_object_tracker): unknown object orientation (#10286) * fix(unknown_tracker): update object pose orientation and streamline uncertainty modeling in input manager Signed-off-by: Taekjin LEE <[email protected]> * fix(object_model): correct bounding box calculation by initializing limits and including min_z Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> * feat: apply splitting of autoware_utils_geometry (#10270) * fix build error Signed-off-by: Takagi, Isamu <[email protected]> * merge namespace Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> * fix(behavior_velocity_planner): planning factor integration (#10292) * fix: blind_spot Signed-off-by: satoshi-ota <[email protected]> * fix: crosswalk Signed-off-by: satoshi-ota <[email protected]> * fix: detection_area Signed-off-by: satoshi-ota <[email protected]> * fix: intersection Signed-off-by: satoshi-ota <[email protected]> * fix: no_drivable_lane Signed-off-by: satoshi-ota <[email protected]> * fix: no_stopping_area Signed-off-by: satoshi-ota <[email protected]> * fix: run_out Signed-off-by: satoshi-ota <[email protected]> * fix: stop_line Signed-off-by: satoshi-ota <[email protected]> * fix: traffic_light Signed-off-by: satoshi-ota <[email protected]> * fix: virtual_traffic_light Signed-off-by: satoshi-ota <[email protected]> * fix: walk_way Signed-off-by: satoshi-ota <[email protected]> --------- Signed-off-by: satoshi-ota <[email protected]> * feat!: replace VelocityLimit messages with autoware_internal_planning_msgs (#10273) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor (#9454) * feat: moved the cuda pointcloud preprocessor and organized from a personal repository Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed incorrect links Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed dead links pt2 Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed spelling errors Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: json schema fixes Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed comments and filled the fields Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed the adapter for the case when the number of points in the pointcloud changes after the first iteration Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: used the cuda host allocators for aster host to device copies Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/README.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/README.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Max Schmeller <[email protected]> * style(pre-commit): autofix * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * chore: fixed code compilation to reflect Hirabayashi-san's memory pool proposal Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: generalized the number of crop boxes. For two at least, the new approach is actually faster Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated config, schema, and handled the null case in a specialized way Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: moving the pointcloud organization into gpu Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: reimplemented the organized pointcloud adapter in cuda. the only bottleneck is the H->D copy Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed redundant ternay operator Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a temporary memory check. the check will be unified in a later PR Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: refactored the structure to avoid large files Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated the copyright year Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed a bug in the undistortion kernel setup. validated it comparing it with the baseline Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused packages Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed mentions of the removed adapter Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed missing autoware prefix Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: missing assignment in else branch Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added cuda/nvcc debug flags on debug builds Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: refactored parameters for the undistortion settings Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused headers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed default crop box to no filtering at all Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: added missing restrict keyword Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: spells Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed default destructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ocd activated (spelling) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed the schema Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: improved readibility Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added dummy crop box Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added new repositories to ansible Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: CI/CD Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more CI/CD Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: mode CI/CD. some linters are conflicting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * style(pre-commit): autofix * chore: ignoring uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ignoring more uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: missed one more uncrustify exception Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added meta dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Max Schmeller <[email protected]> Co-authored-by: Manato Hirabayashi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko <[email protected]> * feat(autoware_cuda_pointcloud_preprocessor): a cuda-accelerated pointcloud preprocessor (#9454) * feat: moved the cuda pointcloud preprocessor and organized from a personal repository Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed incorrect links Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed dead links pt2 Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed spelling errors Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: json schema fixes Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed comments and filled the fields Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed the adapter for the case when the number of points in the pointcloud changes after the first iteration Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: used the cuda host allocators for aster host to device copies Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * Update sensing/autoware_cuda_pointcloud_preprocessor/docs/cuda-pointcloud-preprocessor.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/README.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/README.md Co-authored-by: Max Schmeller <[email protected]> * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Max Schmeller <[email protected]> * style(pre-commit): autofix * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * Update sensing/autoware_cuda_pointcloud_preprocessor/src/cuda_pointcloud_preprocessor/cuda_pointcloud_preprocessor.cu Co-authored-by: Manato Hirabayashi <[email protected]> * style(pre-commit): autofix * chore: fixed code compilation to reflect Hirabayashi-san's memory pool proposal Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: generalized the number of crop boxes. For two at least, the new approach is actually faster Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated config, schema, and handled the null case in a specialized way Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: moving the pointcloud organization into gpu Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: reimplemented the organized pointcloud adapter in cuda. the only bottleneck is the H->D copy Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed redundant ternay operator Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added a temporary memory check. the check will be unified in a later PR Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: refactored the structure to avoid large files Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: updated the copyright year Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed a bug in the undistortion kernel setup. validated it comparing it with the baseline Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused packages Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed mentions of the removed adapter Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed missing autoware prefix Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: missing assignment in else branch Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added cuda/nvcc debug flags on debug builds Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: refactored parameters for the undistortion settings Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed unused headers Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: changed default crop box to no filtering at all Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: added missing restrict keyword Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: spells Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed default destructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ocd activated (spelling) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed the schema Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: improved readibility Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added dummy crop box Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added new repositories to ansible Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: CI/CD Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: more CI/CD Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: mode CI/CD. some linters are conflicting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * style(pre-commit): autofix * chore: ignoring uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ignoring more uncrustify Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: missed one more uncrustify exception Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: added meta dep Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Max Schmeller <[email protected]> Co-authored-by: Manato Hirabayashi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Amadeusz Szymko <[email protected]> * chore(autoware_cuda_pointcloud_preprocessor): add maintainer (#10297) Signed-off-by: Amadeusz Szymko <[email protected]> * feat(path_optimizer): additional failure logging and failure mode handling (#10276) MRM when MPT fails Signed-off-by: Arjun Jagdish Ram <[email protected]> * fix(autoware_path_optimizer): hotfix for wrong logic triggering MRM on start in 3 seconds (#10305) fix Signed-off-by: Arjun Jagdish Ram <[email protected]> * fix(safety_check): set safety condition properly (#10307) Signed-off-by: satoshi-ota <[email protected]> * chore: rename from `autoware.universe` to `autoware_universe` (#10306) Signed-off-by: Yutaka Kondo <[email protected]> * feat(autoware_pointcloud_preprocessor): add missing vehicle msg depency (#10313) feat(auotawre_pointcloud_preprocessor): add missing vehicle msg depency Signed-off-by: Maxime CLEMENT <[email protected]> * fix(autoware_behavior_path_static_obstacle_avoidance_module): blinker bug in static obstacle avoidance (#10303) fix Signed-off-by: Y.Hisaki <[email protected]> * refactor(control): remove unimplemented function declarations (#10314) remove unimplemented function declarations Signed-off-by: Autumn60 <[email protected]> * fix(autoware_carla_interface): improve lateral control tracking (#10312) Convert steer angle to actuator command, model steering with first order dynamics, and update the steer_map.csv Signed-off-by: Steven Brills <[email protected]> * chore: bump version 0.43.0 (#10318) Signed-off-by: Hayato Mizushima <[email protected]> * fix(lane_change): set safety factor properly (#10308) Signed-off-by: satoshi-ota <[email protected]> * fix(goal_planner): use precise distance to objects for sorting candidate paths (#10296) * fix(goal_planner): use precise distance to objects for sorting candidate paths Signed-off-by: kosuke55 <[email protected]> * shortest_distance_from_ego_footprint_to_objects_on_path Signed-off-by: kosuke55 <[email protected]> * improve doxygen Signed-off-by: kosuke55 <[email protected]> update docs Signed-off-by: kosuke55 <[email protected]> * fix build Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]> * feat(goal_planner): expand outer collision check margin (#10294) feat(goal_planner): expand outer collision check margin margin comment update svg Signed-off-by: kosuke55 <[email protected]> * feat(autoware_multi_object_tracker): selective update per channel (#10277) * refactor(bicycle_motion_model): implement exponential decay for slip angle in state prediction Signed-off-by: Taekjin LEE <[email protected]> * Revert "refactor(multi_object_tracker): simplify input channel configuration by removing trust flags and consolidating parameters" This reverts commit c5155ef2e978b411955ace35f412bbf76c96f354. Signed-off-by: Taekjin LEE <[email protected]> * refactor(multi_object_tracker): update measure function signatures to include InputChannel parameter Signed-off-by: Taekjin LEE <[email protected]> * refactor(multi_object_tracker): add updateStatePoseVel method to BicycleMotionModel and update measurement logic in VehicleTracker Signed-off-by: Taekjin LEE <[email protected]> * refactor(multi_object_tracker): update measureWithPose method to include InputChannel parameter and adjust related logic Signed-off-by: Taekjin LEE <[email protected]> * refactor(multi_object_tracker): remove BicycleTracker and update references to use VehicleTracker Signed-off-by: Taekjin LEE <[email protected]> * refactor(bicycle_tracker): add tracking_offset to adjust object position based on motion model Signed-off-by: Taekjin LEE <[email protected]> * refactor(multi_object_tracker): remove BicycleTracker and replace with VehicleTracker in relevant classes Signed-off-by: Taekjin LEE <[email protected]> * refactor(input_channels): disable trust flags for extension and orientation in radar configurations Signed-off-by: Taekjin LEE <[email protected]> * refactor(input_channels): restructure flags for input channel properties Signed-off-by: Taekjin LEE <[email protected]> * refactor(input_channels): remove 'flags' from required properties in schema Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]> * feat(autoware_signal_processing)!: port autoware_signal_processing to Autoware Core (#10335) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(crosswalk_module): consider objects on crosswalk when pedestrian traffic light is red (#10332) Signed-off-by: Mehmet Dogru <[email protected]> * feat(autoware_map_projection_loader)!: move autoware_map_projection_loader package to Autoware Core (#10265) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(control_validator)!: add acceleration check (#10326) Signed-off-by: yuki-takagi-66 <[email protected]> * feat(autoware_velocity_smoother)!: move autoware_velocity_smoother to Autoware Core (#10331) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * fix(voxel_based_compare_map): temporary fix pointcloud transform lookup (#10299) * fix(voxel_based_compare_map): temporary fix pointcloud transform lookup_time Signed-off-by: badai-nguyen <[email protected]> * pre-commit Signed-off-by: badai-nguyen <[email protected]> * chore: reduce timeout Signed-off-by: badai-nguyen <[email protected]> * fix: misalignment when tranform back output Signed-off-by: badai-nguyen <[email protected]> * fix: typo Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> * chore(sync-files.yaml): not synchronize `github-release.yaml` (#1776) not sync github-release Signed-off-by: Yutaka Kondo <[email protected]> * fix(image_projection_based_fusion): add outside of FOV checking (#10329) Signed-off-by: badai-nguyen <[email protected]> * fix(roi_pointcloud_fusion): add roi scale factor param (#10333) * fix(roi_pointcloud_fusion): add roi scale factor param Signed-off-by: badai-nguyen <[email protected]> * fix: missing declare Signed-off-by: badai-nguyen <[email protected]> --------- Signed-off-by: badai-nguyen <[email protected]> * fix(roi_pointcloud_fusion): merge into pointcloud container (#10334) Signed-off-by: badai-nguyen <[email protected]> * fix(motion_velocity_planner): remove Metric messages (#10342) Signed-off-by: Takayuki Murooka <[email protected]> * fix(autoware_image_projection_based_fusion): unintended new container behavior (#10346) fix: the current launcher was creating a new container with the same name Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(autoware_stop_filter)!: port package to Autoware Core (#10336) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(autoware_twist2accel)!: port autoware_twist2accel to Autoware Core (#10338) Signed-off-by: mitsudome-r <[email protected]> * fix(autoware_radar_static_pointcloud_filter): add dependencies and use correct qos (#10328) * fix(autoware_radar_static_pointcloud_filter): add dependencies Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]> * fix(autoware_radar_static_pointcloud_filter): use correct qos Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]> --------- Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]> * feat(autoware_tracker_object_merger): add diagnostics (#10257) * add diagnostics Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix Signed-off-by: MasatoSaeki <[email protected]> * fix how to check as diag Signed-off-by: MasatoSaeki <[email protected]> * style(pre-commit): autofix Signed-off-by: MasatoSaeki <[email protected]> * delete unnecesary include row Signed-off-by: MasatoSaeki <[email protected]> * change the way to check time Signed-off-by: MasatoSaeki <[email protected]> * pre-commit Signed-off-by: MasatoSaeki <[email protected]> * chore Signed-off-by: MasatoSaeki <[email protected]> * fix warn msg Signed-off-by: MasatoSaeki <[email protected]> * change msg string to int Co-authored-by: Taekjin LEE <[email protected]> Signed-off-by: MasatoSaeki <[email protected]> * fix msg Signed-off-by: MasatoSaeki <[email protected]> * add unit Signed-off-by: MasatoSaeki <[email protected]> --------- 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: Taekjin LEE <[email protected]> * fix(behavior_path_planner, behavior_static_obstacle_avoidance_module): crash during goal changes (#10205) * fix(behavior_path_planner, behavior_static_obstacle_avoidance_module): empty path handling Signed-off-by: Shumpei Wakabayashi <[email protected]> * style(pre-commit): autofix * refactor: use optional Signed-off-by: Shumpei Wakabayashi <[email protected]> * fix: std Signed-off-by: Shumpei Wakabayashi <[email protected]> --------- Signed-off-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(control_validator): fix sign miss and add code test (#10341) Signed-off-by: yuki-takagi-66 <[email protected]> * fix(compare_map_segmentation): last map update logic (#10351) fix(compare_map): logic Signed-off-by: Shumpei Wakabayashi <[email protected]> * fix(autoware_probabilistic_occupancy_grid_map): fixed transform issues and border conditions (#10344) * fix: fixed transform issues and border conditions Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed compilation on cpu only builds Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat(map_based_prediction): add diagnostic handler to warn the processing time excess (#10219) * feat(start/goal_planner): use common max steer angle parameter from vehicle_info (#10321) * fix(autoware_behavior_path_start_planner_module): update parameter name for geometric pull out max steer angle Signed-off-by: Kyoichi Sugahara <[email protected]> * fix(docs): update unit for max_steer_angle_margin_scale in README Signed-off-by: Kyoichi Sugahara <[email protected]> * fix dead link Signed-off-by: Kyoichi Sugahara <[email protected]> --------- Signed-off-by: Kyoichi Sugahara <[email protected]> * feat(autoware_behavior_velocity_planner): porting to core (#10343) Signed-off-by: suchang <[email protected]> Co-authored-by: suchang <[email protected]> * fix(control validator): combine callback functions to fix error count increment bug (#10355) Signed-off-by: yuki-takagi-66 <[email protected]> * feat(autoware_map_loader)!: port autoware_map_loader to Autoware Core (#10356) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(autoware_global_parameter_loader)!: port autoware_global_parameter_loader package to Autoware Core (#10357) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(autoware_motion_velocity_obstacle_stop_module): porting to core (#10348) Signed-off-by: liuXinGangChina <[email protected]> * feat(autoware_planning_topic_converter)!: port autwoare_planning_topic_converter package to Autoware Universe (#10362) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * feat(autoware_vehicle_velocity_converter)!: port autoware_vehicle_velocity_converter to Autoware Core (#10361) Signed-off-by: Ryohsuke Mitsudome <[email protected]> * chore(localization, perception): remove koji minoda as maintainer from multiple packages (#10359) fix: remove Koji Minoda as maintainer from multiple package.xml files Signed-off-by: Taekjin LEE <[email protected]> * fix(autoware_radar_static_pointcloud_filter): lookup timestamp and er… (#10350) fix(autoware_radar_static_pointcloud_filter): lookup timestamp and error handling Signed-off-by: Mehmet Emin BAŞOĞLU <[email protected]> * feat(autoware_default_adapi): log autoware state change (#10364) Signed-off-by: Takagi, Isamu <[email protected]> * feat(autoware_default_adapi): disable sample web server (#10327) * feat(autoware_default_adapi): disable sample web server Signed-off-by: Takagi, Isamu <[email protected]> * fix unused inport Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> * fix(autoware_crosswalk_traffic_light_estimator): add process that guard access to empty elements (#10281) * fix(autoware_crosswalk_traffic_light_estimator) : add process that guard access to empty elements. Signed-off-by: k-hazama-esol <[email protected]> * fix for linter Signed-off-by: k-hazama-esol <[email protected]> --------- Signed-off-by: k-hazama-esol <[email protected]> * feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint (#9453) * feat: introduced the cuda transport layer (cuda blackboard) to centerpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: fixed compilation issue on pointpainting Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed compile errors in the ml models Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * fix: fixed standalone non-composed launcher Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ci/cd Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: clang tidy related fix Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: removed non applicable override (point painting does not support the blackboard yet) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: temporarily ignoring warning until pointpainting also supports the blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: ignoring spell Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * feat: removed the deprecated compatible subs option in the constructor Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * chore: bump the cuda blackboard version in the build depends Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> * Update perception/autoware_image_projection_based_fusion/src/pointpainting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]> --------- Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]> Co-authored-by: Amadeusz Szymko <[email protected]> Co-authored-by: badai nguyen <[email protected]> * feat(autoware_tenssort_common): validate TensorRT engine version for cached engine (#10320) * autoware_tenssort_common): validate TensorRT engine version for cached engine Signed-off-by: Amadeusz Szymko <[email protected]> * style(autoware_tensorrt_common): typo Signed-off-by: Amadeusz Szymko <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * style(autoware_tensorrt_common): typo Signed-off-by: Amadeusz Szymko <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * style(autoware_tensorrt_common): typo Signed-off-by: Amadeusz Szymko <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * docs(autoware_tensorrt_common): add source Signed-off-by: Amadeusz Szymko <[email protected]> --------- Signed-off-by: Amadeusz Szymko <[email protected]> Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]> * chore(perception): code owner revision (#10358) * feat: add Masato Saeki and Taekjin Lee as maintainer to multiple package.xml files Signed-off-by: Taekjin LEE <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Taekjin LEE <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(motion_velocity_obstacle_xxx_module): fix debug topic name (#10322) Signed-off-by: Takayuki Murooka <[email protected]> * chore(motion_velocity_planner): move common and node packages to core (#10367) Signed-off-by: Maxime CLEMENT <[email protected]> * feat(tier4_planning_rviz_plugin): add time from start text to Trajectory (#10370) Signed-off-by: Maxime CLEMENT <[email protected]> * feat(autoware_multi_object_tracker): update overlapped tracker removing process in multi obj tracker (#10347) Update overlapped tracker removing process Co-authored-by: Taekjin LEE <[email protected]> * fix(pred_path_checker,dyn_obstacle_stop): use output of removeOverlaps (#10375) Signed-off-by: Maxime CLEMENT <[email protected]> * fix(detection_area): integrate RTC feature (#10376) Signed-off-by: satoshi-ota <[email protected]> * feat(autoware_overlay_rviz_plugin)!: add static blinking option for turn_signal (#10319) * feat!(autoware_overlay_rviz_plugin): removed the blinking function of turn_signal Signed-off-by: Y.Hisaki <[email protected]> * add blinking mode Signed-off-by: Y.Hisaki <[email protected]> --------- Signed-off-by: Y.Hisaki <[email protected]> * fix(control_validator): memory-related crash when processing large trajectories (#10372) * fix(control_validator): momory Signed-off-by: Shumpei Wakabayashi <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Shumpei Wakabayashi <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat: manual control (#10354) * feat(default_adapi): add manual control Signed-off-by: Takagi, Isamu <[email protected]> * add conversion Signed-off-by: Takagi, Isamu <[email protected]> * update selector Signed-off-by: Takagi, Isamu <[email protected]> * update selector depends Signed-off-by: Takagi, Isamu <[email protected]> * update converter Signed-off-by: Takagi, Isamu <[email protected]> * modify heartbeat name Signed-off-by: Takagi, Isamu <[email protected]> * update launch Signed-off-by: Takagi, Isamu <[email protected]> * update api Signed-off-by: Takagi, Isamu <[email protected]> * fix pedal callback Signed-off-by: Takagi, Isamu <[email protected]> * done todo Signed-off-by: Takagi, Isamu <[email protected]> * apply message rename Signed-off-by: Takagi, Isamu <[email protected]> * fix test Signed-off-by: Takagi, Isamu <[email protected]> * fix message type and qos Signed-off-by: Takagi, Isamu <[email protected]> * fix steering_tire_velocity Signed-off-by: Takagi, Isamu <[email protected]> * fix for clang-tidy Signed-off-by: Takagi, Isamu <[email protected]> --------- Signed-off-by: Takagi, Isamu <[email protected]> * feat: add autoware_agnocast_wrapper package (#10377) * add autoware_agnocast_wrapper package Signed-off-by: sykwer <[email protected]> * add repo Signed-off-by: sykwer <[email protected]> --------- Signed-off-by: sykwer <[email protected]> * feat(autoware_pointcloud_preprocessor): add pointcloud_densifier package (#10226) * feat(autoware_pointcloud_preprocessor): add pointcloud_densifier package Signed-off-by: Kaan Çolak <[email protected]> * style(pre-commit): autofix * fix(autoware_pointcloud_preprocessor): add header Signed-off-by: Kaan Çolak <[email protected]> * fix(autoware_pointcloud_preprocessor): add schema and fix debugger Signed-off-by: Kaan Çolak <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Kaan Çolak <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(autoware_agnocast_wrapper): invalid comment out (#10382) fix comment out Signed-off-by: sykwer <[email protected]> * fix(agnocast_wrapper): fix invalid include (#10384) Signed-off-by: veqcc <[email protected]> * feat(multi_object_tracker): add diagnostics warning when extrapolation time exceeds limit with latency guarantee enabled (#10301) * feat(multi_object_tracker): add diagnostics warning when extrapolation time exceeds limit with latency guarantee enabled Signed-off-by: lei.gu <[email protected]> * feat(multi_object_tracker): handled the case last_updated_time_ initialized as 0 Signed-off-by: lei.gu <[email protected]> * feat(multi_object_tracker): refactored to give better structure diagnostic force updated when published Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix * feat(multi_object_tracker): add published tracker count check Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix * feat(multi_object_tracker): fix checkAllTiming complexity Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix * feat(multi_object_tracker): check consecutive warning duration Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix * feat(multi_object_tracker): diag messages updated Signed-off-by: lei.gu <[email protected]> * feat(multi_object_tracker): diag messages updated Signed-off-by: lei.gu <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * feat(multi_object_tracker): messages fix Signed-off-by: lei.gu <[email protected]> --------- Signed-off-by: lei.gu <[email protected]> Co-authored-by: lei.gu <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(simple_planning_simulator): fix a small turn_signal bug (#10386) * fix turn bug Signed-off-by: xtk8532704 <[email protected]> * pre-commit Signed-off-by: xtk8532704 <[email protected]> --------- Signed-off-by: xtk8532704 <[email protected]> * fix(autoware_agnocast_wrapper): keep up with changes in AUTOWARE_POLLING_SUBSCRIBER (#10390) fix: AUTOWARE_POLLING_SUBSCRIBER Signed-off-by: atsushi421 <[email protected]> * 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 …

knzo25 added 2 commits November 25, 2024 17:20

feat: introduced the cuda transport layer (cuda blackboard) to center…

4686ce6

…point Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: fixed compilation issue on pointpainting

46d5dcd

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) tag:require-cuda-build-and-test labels Nov 25, 2024

knzo25 marked this pull request as ready for review November 25, 2024 09:46

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knzo25 mentioned this pull request Nov 26, 2024

feat: acceleration and transport layer autowarefoundation/sample_sensor_kit_launch#111

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Merge remote-tracking branch 'awf/main' into feat/cuda_blackboard_cen…

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…terpoint Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

knzo25 mentioned this pull request Dec 23, 2024

Leverage cuda acceleration in the sensing perception pipeline #9722

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kminoda reviewed Dec 27, 2024

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knzo25 and others added 3 commits January 28, 2025 15:15

Merge branch 'main' into feat/cuda_blackboard_centerpoint

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Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Merge branch 'main' into feat/cuda_blackboard_centerpoint

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Merge branch 'main' into feat/cuda_blackboard_centerpoint

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Merge branch 'main' into feat/cuda_blackboard_centerpoint

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knzo25 mentioned this pull request Mar 19, 2025

feat(autoware_cuda_pointcloud_preprocessor): pointcloud concatenation #10300

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knzo25 added 3 commits March 19, 2025 15:39

Merge branch 'main' into feat/cuda_blackboard_centerpoint

68c61fd

chore: clang tidy related fix

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Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Merge branch 'feat/cuda_blackboard_centerpoint' of github.com:knzo25/…

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…autoware.universe into feat/cuda_blackboard_centerpoint

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feat(autoware.repos): bumped the cuda_blackboard's version to 0.2.0 autowarefoundation/autoware#5924

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knzo25 added 4 commits March 24, 2025 09:33

chore: removed non applicable override (point painting does not suppo…

482cc16

…rt the blackboard yet) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: temporarily ignoring warning until pointpainting also supports…

373f2e1

… the blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

chore: ignoring spell

4dedbb3

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Merge branch 'main' into feat/cuda_blackboard_centerpoint

39b12e4

knzo25 added 5 commits March 25, 2025 11:48

feat: removed the deprecated compatible subs option in the constructor

55b08eb

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Merge branch 'feat/cuda_blackboard_centerpoint' of github.com:knzo25/…

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…autoware.universe into feat/cuda_blackboard_centerpoint

Merge branch 'main' into feat/cuda_blackboard_centerpoint

e0bfd82

chore: bump the cuda blackboard version in the build depends

74c884d

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

Merge branch 'feat/cuda_blackboard_centerpoint' of github.com:knzo25/…

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…autoware.universe into feat/cuda_blackboard_centerpoint

badai-nguyen approved these changes Mar 30, 2025

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knzo25 and others added 3 commits March 31, 2025 08:11

Merge branch 'main' into feat/cuda_blackboard_centerpoint

349a366

Update perception/autoware_image_projection_based_fusion/src/pointpai…

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…nting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]>

Update perception/autoware_image_projection_based_fusion/src/pointpai…

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…nting_fusion/pointpainting_trt.cpp Co-authored-by: badai nguyen <[email protected]>

knzo25 merged commit d076c5d into autowarefoundation:main Mar 30, 2025
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feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453

feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453

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feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453

feat(autoware_lidar_centerpoint): added the cuda_blackboard to centerpoint #9453

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