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Default setup #20

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ffc5e1f
Remove relay
HayeonP Dec 26, 2022
dd3774c
Devide cubetown autorunner to lkas and full
HayeonP Jan 12, 2023
7e76b82
Merge branch 'master' into optimization_comparison
HayeonP Jan 16, 2023
a26a943
Add detection profiling
HayeonP Jan 17, 2023
33d1843
Sync with exynos
HayeonP Jan 18, 2023
ef00146
Fix bug of socring in trajectory evaluator
HayeonP Jan 18, 2023
da9bdef
Remove debug msg
HayeonP Jan 18, 2023
d0f461d
Rmove debug msg
HayeonP Jan 18, 2023
d494d5a
Fix bug in object avoidance
HayeonP Jan 18, 2023
785a476
Fix transform bug in op trajectory evaluator
HayeonP Jan 18, 2023
0c7aae9
Fix transform pose bug
HayeonP Jan 18, 2023
25ddfdb
Change transpose condition in evaluator to while
HayeonP Jan 25, 2023
140a34a
Update cubetown sensing script
HayeonP Jan 25, 2023
cbaf76c
Sync rubis_autorunner with event_driven
HayeonP Jan 29, 2023
1002f36
Restore cubetown localization script
HayeonP Jan 29, 2023
52d6b68
Update localization condition cubetown autorunner
HayeonP Jan 29, 2023
cbaf39a
Reduce time contraints in cubetown autorunner
HayeonP Jan 30, 2023
563782b
Update carla autorunner
HayeonP Feb 15, 2023
4c6489a
Merge with event_driven and solve driving in reverse at start
HayeonP Feb 15, 2023
6424c32
Sync with event driven
HayeonP Feb 16, 2023
4ef9e3e
Sync with event driven
HayeonP Feb 16, 2023
6fa5a4d
Merge branch 'default_setup' of https://github.com/rubis-lab/Autoware…
HayeonP Mar 9, 2023
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6 changes: 3 additions & 3 deletions autoware.ai/autoware_files/carla_launch/1_sensing.launch
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Expand Up @@ -21,9 +21,9 @@
</include>

<!-- Re-publishing simulator/camera_node/image/compressed topic to /image_raw as expected by Autoware -->
<!-- <node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw_origin" /> -->
<!-- <node name="republish" type="republish" pkg="image_transport" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw_origin" /> -->

<!-- <node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher" output="screen">
<!-- <node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher">
<param name="/input_topic" value="$(arg image_input_topic)" />
</node> -->

Expand All @@ -34,7 +34,7 @@

<!-- gnss localizer -->
<!-- <arg name="plane" default="0"/>
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer" output="screen">
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer">
<param name="plane" value="$(arg plane)"/>
</node> -->

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2 changes: 1 addition & 1 deletion autoware.ai/autoware_files/carla_launch/2_localization_gicp.launch
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Expand Up @@ -25,7 +25,7 @@
<arg name="numthreads" default="4" doc="vgicp threads num" />
<arg name="leafsize" default="0.01" doc="point map downsample leafsize" />

<node pkg="gicp_localizer" type="gicp_localizer_node" name="gicp_localizer_node" output="screen">
<node pkg="gicp_localizer" type="gicp_localizer_node" name="gicp_localizer_node">
<param name="init_x" value="$(arg init_x)" />
<param name="init_y" value="$(arg init_y)" />
<param name="init_z" value="$(arg init_z)" />
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2 changes: 1 addition & 1 deletion autoware.ai/autoware_files/carla_launch/2_localization_param.launch
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Expand Up @@ -35,7 +35,7 @@
<arg name="gnss_pose_diff_threshold" default="5.0"/>

<!-- ndt_matching -->
<node pkg="lidar_localizer" type="modular_ndt_matching" name="ndt_matching" output="screen">
<node pkg="lidar_localizer" type="modular_ndt_matching" name="ndt_matching">
<param name="method_type" value="$(arg method_type)" />

<!-- NDT config -->
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2 changes: 1 addition & 1 deletion autoware.ai/autoware_files/carla_launch/4_planning.launch
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Expand Up @@ -20,7 +20,7 @@
<arg name="goal_ori_z" value="0.99" />
<arg name="goal_ori_w" value="0.02" />

<node pkg="op_global_planner" type="op_global_planner" name="op_global_planner" output="screen">
<node pkg="op_global_planner" type="op_global_planner" name="op_global_planner">
<rosparam command="load" file="$(find rubis_autorunner)/cfg/$(arg LaneInfoFile)"/>
<param name="pathDensity" value="$(arg pathDensity)" />
<param name="enableSmoothing" value="$(arg enableSmoothing)" />
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4 changes: 2 additions & 2 deletions autoware.ai/autoware_files/gnss_mapping.launch
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Expand Up @@ -33,8 +33,8 @@
<arg name="tf_yaw" default="-0.785" />

<!-- rosrun lidar_localizer ndt_mapping -->
<node pkg="lidar_localizer" type="queue_counter" name="queue_counter" output="screen"/>
<node pkg="lidar_localizer" type="gnss_mapping" name="gnss_mapping" output="screen">
<node pkg="lidar_localizer" type="queue_counter" name="queue_counter"/>
<node pkg="lidar_localizer" type="gnss_mapping" name="gnss_mapping">
<param name="voxel_leaf_size" value="$(arg voxel_leaf_size)" />
<param name="min_scan_range" value="$(arg min_scan_range)" />
<param name="max_scan_range" value="$(arg max_scan_range)" />
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6 changes: 3 additions & 3 deletions autoware.ai/autoware_files/lgsvl_file/launch/base/single_sensing.launch
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Expand Up @@ -6,9 +6,9 @@
<arg name="image_input_topic" default="/image_raw_origin"/>

<!-- Re-publishing simulator/camera_node/image/compressed topic to /image_raw as expected by Autoware -->
<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />
<node name="republish" type="republish" pkg="image_transport" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />

<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher" output="screen">
<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher">
<param name="/input_topic" value="$(arg lidar_input_topic)" />
<param name="/output_topic" value="$(arg lidar_output_topic)" />
</node>
Expand All @@ -26,7 +26,7 @@

<!-- gnss localizer -->
<!-- <arg name="plane" default="0"/>
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer" output="screen">
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer">
<param name="plane" value="$(arg plane)"/>
</node> -->

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10 changes: 5 additions & 5 deletions autoware.ai/autoware_files/lgsvl_file/launch/desktop/single_sensing.launch
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@@ -1,20 +1,20 @@
<launch>
<!-- ROS-Bridge node for simulator connection-->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" output="screen" clear_params="true" required="true" /> -->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" clear_params="true" required="true" /> -->
<rosparam command="load" file="$(env USER_HOME)/autoware.ai/autoware_files/data/yaml/desktop_lgsvl_params.yaml" />
<arg name="lidar_input_topic" default="/points_raw_origin"/>
<arg name="lidar_output_topic" default="/points_raw"/>
<arg name="image_input_topic" default="/image_raw_origin"/>

<!-- Re-publishing simulator/camera_node/image/compressed topic to /image_raw as expected by Autoware -->
<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />
<node name="republish" type="republish" pkg="image_transport" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />

<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher" output="screen">
<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher">
<param name="/input_topic" value="$(arg lidar_input_topic)" />
<param name="/output_topic" value="$(arg lidar_output_topic)" />
</node>

<node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher" output="screen">
<node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher">
<param name="/input_topic" value="$(arg image_input_topic)" />
</node>

Expand All @@ -31,7 +31,7 @@

<!-- gnss localizer -->
<!-- <arg name="plane" default="0"/>
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer" output="screen">
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer">
<param name="plane" value="$(arg plane)"/>
</node> -->

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6 changes: 3 additions & 3 deletions autoware.ai/autoware_files/lgsvl_file/launch/lgsvl_bridge.launch
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@@ -1,11 +1,11 @@
<launch>
<!-- ROS-Bridge node for Simulator connection -->
<node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" output="screen" clear_params="true" required="true" />
<node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" clear_params="true" required="true" />

<!-- Re-publishing simulator/camera_node/image/compressed topic to /image_raw as expected by Autoware -->
<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw_origin" />
<node name="republish" type="republish" pkg="image_transport" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw_origin" />

<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher" output="screen">
<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher">
<param name="/input_topic" value="/points_raw_origin" />
<param name="/output_topic" value="/points_raw" />
</node>
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4 changes: 2 additions & 2 deletions autoware.ai/autoware_files/lgsvl_file/launch/map_loader.launch
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@@ -1,6 +1,6 @@
<launch>
<!-- ROS-Bridge node for Simulator connection -->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" output="screen" clear_params="true" required="true" /> -->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" clear_params="true" required="true" /> -->

<!-- Vector Map Loader -->
<node pkg="map_file" type="vector_map_loader" name="vector_map_loader" args="
Expand All @@ -11,7 +11,7 @@
$(env HOME)/autoware.ai/autoware_files/vector_map/borregas_lidar/point.csv"/>

<!-- Point Map Loader -->
<node pkg="map_file" type="points_map_loader" name="points_map_loader" output="screen"
<node pkg="map_file" type="points_map_loader" name="points_map_loader"
args="$(env HOME)/autoware.ai/autoware_files/points_map/BorregasAve.pcd"/>

<!-- Map TF Publisher -->
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10 changes: 5 additions & 5 deletions autoware.ai/autoware_files/lgsvl_file/launch/minicar/single_sensing.launch
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@@ -1,19 +1,19 @@
<launch>
<!-- ROS-Bridge node for simulator connection-->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" output="screen" clear_params="true" required="true" /> -->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" clear_params="true" required="true" /> -->
<rosparam command="load" file="$(env USER_HOME)/autoware.ai/autoware_files/data/yaml/minicar_params.yaml" />
<arg name="lidar_input_topic" default="/points_raw_origin"/>
<arg name="lidar_output_topic" default="/points_raw"/>

<!-- Re-publishing simulator/camera_node/image/compressed topic to /image_raw as expected by Autoware -->
<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />
<node name="republish" type="republish" pkg="image_transport" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />

<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher" output="screen">
<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher">
<param name="/input_topic" value="$(arg lidar_input_topic)" />
<param name="/output_topic" value="$(arg lidar_output_topic)" />
</node>

<node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher" output="screen">
<node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher">
<param name="/input_topic" value="$(arg image_input_topic)" />
</node>

Expand All @@ -30,7 +30,7 @@

<!-- gnss localizer -->
<!-- <arg name="plane" default="0"/>
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer" output="screen">
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer">
<param name="plane" value="$(arg plane)"/>
</node> -->

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10 changes: 5 additions & 5 deletions autoware.ai/autoware_files/lgsvl_file/launch/nvidia/single_sensing.launch
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@@ -1,20 +1,20 @@
<launch>
<!-- ROS-Bridge node for simulator connection-->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" output="screen" clear_params="true" required="true" /> -->
<!-- <node name="websocket_bridge" pkg="rosbridge_server" type="rosbridge_websocket" clear_params="true" required="true" /> -->
<rosparam command="load" file="$(env USER_HOME)/autoware.ai/autoware_files/data/yaml/nvidia_lgsvl_params.yaml" />
<arg name="lidar_input_topic" default="/points_raw_origin"/>
<arg name="lidar_output_topic" default="/points_raw"/>
<arg name="image_input_topic" default="/image_raw_origin"/>

<!-- Re-publishing simulator/camera_node/image/compressed topic to /image_raw as expected by Autoware -->
<node name="republish" type="republish" pkg="image_transport" output="screen" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />
<node name="republish" type="republish" pkg="image_transport" args="compressed in:=/simulator/camera_node/image raw out:=/image_raw" />

<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher" output="screen">
<node pkg="rubis_pkg" type="lidar_republisher" name="lidar_republisher">
<param name="/input_topic" value="$(arg lidar_input_topic)" />
<param name="/output_topic" value="$(arg lidar_output_topic)" />
</node>

<node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher" output="screen">
<node pkg="rubis_pkg" type="camera_republisher" name="camera_republisher">
<param name="/input_topic" value="$(arg image_input_topic)" />
</node>

Expand All @@ -31,7 +31,7 @@

<!-- gnss localizer -->
<!-- <arg name="plane" default="0"/>
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer" output="screen">
<node pkg="rubis_pkg" type="gnss_localizer" name="gnss_localizer">
<param name="plane" value="$(arg plane)"/>
</node> -->

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