rubis-lab · HayeonP · Dec 26, 2022 · Jan 12, 2023 · Jan 16, 2023 · Jan 17, 2023
diff --git a/README.md b/README.md
@@ -76,16 +76,16 @@ in below three files (`sudo` required)
 ### Autoware Build
 ```
 # If you have CUDA
-AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+AUTOWARE_COMPILE_WITH_CUDA=1 catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 # Build only some package
-AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select $(pakcage name)
+AUTOWARE_COMPILE_WITH_CUDA=1 catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release --pkg $(package name)
 
 # Build without some package
-AUTOWARE_COMPILE_WITH_CUDA=1 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-skip $(pakcage name)
+AUTOWARE_COMPILE_WITH_CUDA=1 catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release -DCATKIN_BLACKLIST_PACKAGES=$(package name)
 
 # If you don't have CUDA
-colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+catkin_make --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
 <!-- Since Autoware recommend to use directory name 'autoware.ai', you should make soft link with autoware.ai to this repository
@@ -96,7 +96,7 @@ ln -s ${WORKSPACE_DIR}/RUBIS-SelfDriving ~/autoware.ai
 
 And it is recommned to add below sourcing command in your `~/.bashrc` file.
 ```
-source ~/autoware.ai/install/setup.bash
+source ~/autoware.ai/devel/setup.bash
 ``` -->
 
 ## How to build package in rubis_ws

diff --git a/autoware.ai/.catkin_workspace b/autoware.ai/.catkin_workspace
@@ -0,0 +1 @@
+# This file currently only serves to mark the location of a catkin workspace for tool integration
diff --git a/autoware.ai/.gitignore b/autoware.ai/.gitignore
@@ -1,6 +1,8 @@
 build
 install
+devel
 log
 build/*
+devel/*
 install/*
 log/*
diff --git a/autoware.ai/autoware_files/carla_launch/1_sensing.launch b/autoware.ai/autoware_files/carla_launch/1_sensing.launch
@@ -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> -->
 
@@ -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> -->
 

diff --git a/autoware.ai/autoware_files/carla_launch/2_localization_gicp.launch b/autoware.ai/autoware_files/carla_launch/2_localization_gicp.launch
@@ -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)" />

diff --git a/autoware.ai/autoware_files/carla_launch/2_localization_param.launch b/autoware.ai/autoware_files/carla_launch/2_localization_param.launch
@@ -14,14 +14,12 @@
   <!-- points downsampler -->
   <arg name="leaf_size" default="1.0" />
   <arg name="measurement_range" default="200" />
-  <arg name="instance_mode" default="0"/>
 
   <node pkg="points_downsampler" name="voxel_grid_filter" type="voxel_grid_filter">
     <param name="input_topic_name" value="points_raw" />
     <param name="output_topic_name" value="filtered_points" />
     <param name="leaf_size" value="$(arg leaf_size)" />
     <param name="measurement_range" value="$(arg measurement_range)" />
-    <param name="instance_mode" value="$(arg instance_mode)" />
   </node>
 
   <!-- pcl_generic=0, pcl_anh=1, pcl_anh_gpu=2, pcl_openmp=3 -->
@@ -35,7 +33,7 @@
   <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 -->

diff --git a/autoware.ai/autoware_files/carla_launch/4_planning.launch b/autoware.ai/autoware_files/carla_launch/4_planning.launch
@@ -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)" />

diff --git a/autoware.ai/autoware_files/data/tf/tf.launch b/autoware.ai/autoware_files/data/tf/tf.launch
@@ -1,9 +1,9 @@
 <!---->
 <launch>
 <!-- worldからmapへのtf -->
-<node pkg="tf"  type="static_transform_publisher" name="world_to_map" args="0.0001 0 0 0 0 0 /world /map 10" />
+<node pkg="tf"  type="static_transform_publisher" name="world_to_map" args="0.0001 0 0 0 0 0 /world /map 100" />
 
 <!-- mapからmobilityへのtf -->
-<node pkg="tf"  type="static_transform_publisher" name="map_to_mobility" args="0 0 0 0 0 0 /map /mobility 10" />
+<node pkg="tf"  type="static_transform_publisher" name="map_to_mobility" args="0 0 0 0 0 0 /map /mobility 100" />
 
 </launch>
diff --git a/autoware.ai/autoware_files/data/yaml/default_lgsvl_params.yaml b/autoware.ai/autoware_files/data/yaml/default_lgsvl_params.yaml
@@ -12,7 +12,7 @@
 # Sensing
 ray_ground_filter:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/ray_ground_filter.csv"
   rate: 10 
   task_minimum_inter_release_time: 100000000
@@ -22,7 +22,7 @@ ray_ground_filter:
 # Localization
 voxel_grid_filter:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/voxel_grid_filter.csv"
   rate: 10 
   task_minimum_inter_release_time: 100000000
@@ -33,55 +33,40 @@ ndt_matching:
   localizer: "velodyne"
 
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/ndt_matching.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
   task_execution_time: 70000000
   task_relative_deadline: 100000000
-  gpu_scheduling_flag: 0
-  gpu_profiling_flag: 0
-  gpu_execution_time_filename: "~/Documents/gpu_profiling/test_ndt_matching_execution_time.csv"
-  gpu_response_time_filename: "~/Documents/gpu_profiling/test_ndt_matching_response_time.csv"
-  gpu_deadline_filename: "~/Documents/gpu_deadline/ndt_matching_gpu_deadline.csv"
 
 # Detection
 calibration_publisher:
   calibration_file: "~/autoware.ai/autoware_files/data/calibration/single_lidar/Lexus2016RXHybrid.yaml"
 
 lidar_euclidean_cluster_detect:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/lidar_euclidean_cluster_detect.csv"
   rate: 10 
   task_minimum_inter_release_time: 100000000
   task_execution_time: 100000000
   task_relative_deadline: 100000000
-  gpu_scheduling_flag: 0
-  gpu_profiling_flag: 0
-  gpu_execution_time_filename: "~/Documents/gpu_profiling/test_clustering_execution_time.csv"
-  gpu_response_time_filename: "~/Documents/gpu_profiling/test_clustering_response_time.csv"
-  gpu_deadline_filename: "~/Documents/gpu_deadline/clustring_gpu_deadline.csv"
 
 vision_darknet_detect:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/vision_darknet_detect.csv"
   rate: 10 
   task_minimum_inter_release_time: 100000000
   task_execution_time: 100000000
   task_relative_deadline: 100000000
-  gpu_scheduling_flag: 0
-  gpu_profiling_flag: 0
-  gpu_execution_time_filename: "~/Documents/gpu_profiling/test_yolo_execution_time.csv"
-  gpu_response_time_filename: "~/Documents/gpu_profiling/test_yolo_response_time.csv"
-  gpu_deadline_filename: "~/Documents/gpu_deadline/yolo_gpu_deadline.csv"
   network_definition_file: "~/autoware.ai/autoware_files/vision/yolov3-320.cfg"
   pretrained_model_file: "~/autoware.ai/autoware_files/vision/yolov3-320.weights"
 
 imm_ukf_pda_track:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/imm_ukf_pda_track.csv"
   rate: 10 
   task_minimum_inter_release_time: 100000000
@@ -91,7 +76,7 @@ imm_ukf_pda_track:
 # Planning
 op_global_planner:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/op_global_planner.csv"
   rate: 25 #25
   task_minimum_inter_release_time: 100000000
@@ -108,7 +93,7 @@ op_common_params:
 
 op_trajectory_generator:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/op_trajectory_generator.csv"
   rate: 100 #100
   task_minimum_inter_release_time: 10000000
@@ -117,7 +102,7 @@ op_trajectory_generator:
 
 op_trajectory_evaluator:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/op_trajectory_evaluator.csv"
   rate: 100 #100
   task_minimum_inter_release_time: 100000000
@@ -133,7 +118,7 @@ op_trajectory_evaluator:
 
 op_behavior_selector:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/op_behavior_selector.csv"
   rate: 100 #100
   task_minimum_inter_release_time: 10000000
@@ -146,7 +131,7 @@ op_behavior_selector:
 
 op_motion_predictor:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/op_motion_predictor.csv"
   rate: 25 #25
   task_minimum_inter_release_time: 40000000
@@ -156,7 +141,7 @@ op_motion_predictor:
 # Control
 pure_pursuit:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/pure_pursuit.csv"
   rate: 30 #30
   task_minimum_inter_release_time: 33333333
@@ -167,7 +152,7 @@ pure_pursuit:
 
 twist_filter:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/twist_filter.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
@@ -176,7 +161,7 @@ twist_filter:
 
 twist_gate:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/twist_gate.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
@@ -187,7 +172,7 @@ twist_gate:
 # Others
 lidar_republisher:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/lidar_republisher.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
@@ -196,7 +181,7 @@ lidar_republisher:
 
 vel_relay:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/vel_relay.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
@@ -205,7 +190,7 @@ vel_relay:
 
 vel_relay:
   task_scheduling_flag: 0
-  task_profiling_flag: 0
+
   task_response_time_filename: "~/Documents/profiling/response_time/pose_relay.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
@@ -214,7 +199,7 @@ vel_relay:
 
 republish:
   task_scheduling_flag: 0
-  task_profiling_flag: 1
+
   task_response_time_filename: "~/Documents/profiling/response_time/republish.csv"
   rate: 10
   task_minimum_inter_release_time: 100000000
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		# This file currently only serves to mark the location of a catkin workspace for tool integration