feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

esteve · 2022-07-07T13:08:31Z

Description

This PR replaces the standard point cloud iterators from the sensor_msgs package with Point Cloud Message Wrapper

Tests performed

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codecov · 2022-07-09T08:50:58Z

Codecov Report

Base: 11.10% // Head: 11.07% // Decreases project coverage by -0.03% ⚠️

Coverage data is based on head (fcb1b9c) compared to base (ed1ea4b).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1276      +/-   ##
==========================================
- Coverage   11.10%   11.07%   -0.04%     
==========================================
  Files        1208     1208              
  Lines       86584    86821     +237     
  Branches    20829    20829              
==========================================
  Hits         9612     9612              
- Misses      66816    67053     +237     
  Partials    10156    10156

Flag	Coverage Δ		*Carryforward flag
differential	`20.52% <0.00%> (?)`
total	`11.07% <0.00%> (ø)`		Carriedforward from ed1ea4b

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

Impacted Files	Coverage Δ
...ssor/concatenate_data/concatenate_data_nodelet.hpp	`0.00% <ø> (ø)`
.../src/concatenate_data/concatenate_data_nodelet.cpp	`0.00% <0.00%> (ø)`
...or/src/crop_box_filter/crop_box_filter_nodelet.cpp	`0.00% <ø> (ø)`
.../src/distortion_corrector/distortion_corrector.cpp	`0.00% <0.00%> (ø)`
.../pointcloud_preprocessor/src/utility/utilities.cpp	`0.00% <0.00%> (ø)`

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* release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "remove ROS1 packages temporarily" This reverts commit d3dea73de174d06d8c3c97500db37501c957f521. Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Rename launch files to launch.xml (autowarefoundation#28) * Port costmap generator (autowarefoundation#93) * ported CMakeLists.txt and package.xml to ROS2. dependency issues on grid_map_ros and grid_map_cv yet to be resolved. * working on porting changes in the code * porting in progress * porting in progress * fix subscription errors Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * porting costmap_generator from ROS1 to ROS2 completed * edited CMakeLists.txt and package.xml to fix compile and dependency errors, replaced adding external dependencies directly to adding them via rosdep. * fix parameter declarations Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix TFs Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix launch files Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * delete unnecessary files Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131) * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * fixing trasient_local in ROS2 packages (autowarefoundation#160) * Enable lints in costmap_generator (autowarefoundation#149) * [costmap_generator] set transient_local() option for map subscriber (autowarefoundation#217) Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * reduce terminal ouput for better error message visibility (autowarefoundation#200) * reduce terminal ouput for better error message visibility Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * [costmap_generator] fix waiting for first transform Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix tests Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix test Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Fix typos in planning modules (autowarefoundation#866) (autowarefoundation#275) * fix typos in planning * fix corresponding typos in planning * revert fixed typos temporarily due to its impact on launchers Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> * Sensor data qos (autowarefoundation#407) * Use sensor data qos for pointcloud preprocessor Signed-off-by: Autoware <autoware@tier4.jp> * Use sensor data qos for pointcloud Signed-off-by: Autoware <autoware@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use sensor data qos for livox tag filter and vector map filter Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Autoware <autoware@tier4.jp> * Fix transform (autowarefoundation#420) * Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix canTransform Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix test Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ros2 fix topic name part1 (autowarefoundation#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix lint errors Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * Fix typo Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp> * add use_sim-time option (autowarefoundation#454) * Unify Apache-2.0 license name (autowarefoundation#1242) * Refine BSD license name (autowarefoundation#1244) * Make planning modules components (autowarefoundation#1263) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Fix/fix costmap generator bugs ros2 (autowarefoundation#1358) * Fix/fix costmap generator bugs (autowarefoundation#1276) * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Transform pointcloud before generating costmap Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix makeExpandedPoint Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix lint Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Use tf2 buffer core API Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Fix wrong rate in freespace_planner (autowarefoundation#1564) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Ignore .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply Black Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Apply clang-format Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix build errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Port parking planner packages from .Auto (autowarefoundation#600) * Copy code of 'vehicle_constants_manager' * Fix vehicle_constants_manager for ROS galactic * Rm .iv costmap_generator freespace_planner freespace_planning_aglorihtms * Add astar_search (from .Auto) * Copy freespace_planner from .Auto * Update freespace_planner for .IV * Copy costmap_generator from .Auto * Copy and update had_map_utils from .Auto * Update costmap_generator * Copy costmap_generator_nodes * Update costmap_generator_nodes * Comment out all tests * Move vehicle_constant_managers to tmp_autoware_auto_dependencies * ignore pre-commit for back-ported packages Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> * ignore testing Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Port parking modules (autowarefoundation#738) * Port costmap_generator * Port freespace_planner * fix readme * ci(pre-commit): autofix * fix readme Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Nikolai Morin <nnmmgit@gmail.com> Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Kazuki Miyahara <kmiya@outlook.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Autoware <autoware@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com> Co-authored-by: Fumiya Watanabe <rej55.g@gmail.com> Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

stale · 2022-09-13T01:57:15Z

This pull request has been automatically marked as stale because it has not had recent activity.

yukkysaito

LGTM

kaancolak · 2022-10-13T15:44:55Z

LGTM

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

…1276)" This reverts commit ef7dcda.

miursh · 2022-11-18T02:58:55Z

@esteve @xmfcx @kaancolak @yukkysaito
Please let me revert this merge commit temporarily since we are struggling with this issue #2306

…2317) Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (#1276)" This reverts commit ef7dcda.

…oundation#1276) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…utowarefoundation#2317) Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowarefoundation#1276)" This reverts commit ef7dcda. Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…utowarefoundation#2317) Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowarefoundation#1276)" This reverts commit ef7dcda. Signed-off-by: kminoda <koji.minoda@tier4.jp>

…oundation#1276) Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

…utowarefoundation#2317) Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowarefoundation#1276)" This reverts commit ef7dcda. Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

esteve force-pushed the point-cloud-msg-wrapper-pointcloud-preprocessor branch 2 times, most recently from 17fe79d to 37b1209 Compare July 8, 2022 13:19

esteve force-pushed the point-cloud-msg-wrapper-pointcloud-preprocessor branch 3 times, most recently from 50583e4 to 4af33b6 Compare July 14, 2022 13:21

esteve marked this pull request as ready for review July 14, 2022 13:22

esteve requested a review from kenji-miyake July 14, 2022 13:23

kenji-miyake requested review from yukkysaito, aohsato and miursh July 15, 2022 01:37

stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Sep 13, 2022

xmfcx requested review from kaancolak and removed request for aohsato, yukkysaito, kenji-miyake and miursh October 4, 2022 15:58

stale bot removed status:stale Inactive or outdated issues. (auto-assigned) labels Oct 4, 2022

esteve force-pushed the point-cloud-msg-wrapper-pointcloud-preprocessor branch from e46b52a to 3a28f42 Compare October 6, 2022 11:19

esteve requested review from amc-nu and yukkysaito as code owners October 6, 2022 11:19

yukkysaito approved these changes Oct 11, 2022

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kaancolak approved these changes Oct 13, 2022

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esteve added 3 commits November 11, 2022 16:51

feat(pointcloud_preprocessor): use point_cloud_msg_wrapper

4fb2796

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Added dependency. Fix variable use

c13f5fb

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Replace PointCloud2Iteartor with point_cloud_msg_wrapper

19bb241

pre-commit-ci bot and others added 7 commits November 11, 2022 16:51

ci(pre-commit): autofix

2451cad

Fix typo

b70b0cf

Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>

Fix variable name

28c2728

Added point type with timestamp

2ca2ad9

Remove PointCloud2Iterator

1f08e43

ci(pre-commit): autofix

d398edb

ci(pre-commit): autofix

fcb1b9c

xmfcx force-pushed the point-cloud-msg-wrapper-pointcloud-preprocessor branch from 672ab2f to fcb1b9c Compare November 11, 2022 13:51

xmfcx requested a review from miursh as a code owner November 11, 2022 13:51

xmfcx enabled auto-merge (squash) November 11, 2022 14:01

xmfcx merged commit ef7dcda into main Nov 11, 2022

xmfcx deleted the point-cloud-msg-wrapper-pointcloud-preprocessor branch November 11, 2022 15:25

tier4-autoware-public-bot bot mentioned this pull request Nov 12, 2022

chore: sync upstream tier4/autoware.universe#181

Merged

This was referenced Nov 16, 2022

Distortion correction would not work using point_cloud_msg_wrapper #2306

Closed

Migrate to point_cloud_msg_wrapper #1199

Open

miursh added a commit that referenced this pull request Nov 18, 2022

Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (#…

6498589

…1276)" This reverts commit ef7dcda.

miursh mentioned this pull request Nov 18, 2022

revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" #2317

Merged

miursh added a commit that referenced this pull request Nov 21, 2022

revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (#…

11ff8ef

…2317) Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (#1276)" This reverts commit ef7dcda.

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feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

esteve commented Jul 7, 2022 •

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feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

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esteve commented Jul 7, 2022 • edited by xmfcx Loading

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