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feat(detection): add container option #6228

Merged
merged 19 commits into from
Feb 1, 2024
Merged

feat(detection): add container option #6228

merged 19 commits into from
Feb 1, 2024

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kminoda
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@kminoda kminoda commented Jan 30, 2024 •
edited by miursh
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Description

Add container option for

  • lidar_centerpoint
  • image_projection_based_fusion/pointpainting
  • euclidean_clustering

image

MUST BE MERGED WITH autowarefoundation/autoware_launch#834

Note that the inf values are replaced with a large value, since it somehow fails with ComposableNode launch

Tests performed

Confirmed that Autoware launches successfully with

  • use_pointcloud_container = true
  • use_pointcloud_container = false

and also verified that the result of ros2 component list is as expected.
For true:
use_pointcloud_container_true.txt
and for false:
use_pointcloud_container_false.txt

Effects on system behavior

When use_pointcloud_container = false, no effects are expected. When use_pointcloud_container = true, internal data communication will be reduced which may results in an efficient system performance.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

  • There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

@kminoda
feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud…
fdf60d6 
…_container option

Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
revert lidar_perception_model
50211e5 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@github-actions github-actions bot added component:perception Advanced sensor data processing and environment understanding. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Jan 30, 2024
@kminoda kminoda changed the title feat(lidar_centerpoint,image_projection_based_fusion): add container option feat(detection): add container option Jan 30, 2024
@kminoda kminoda added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Jan 30, 2024
@kminoda
fix: add options
ca72a0c 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
fix: fix default param
30bac0d 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda kminoda mentioned this pull request Jan 30, 2024
Merged
4 tasks
@kminoda kminoda marked this pull request as ready for review January 30, 2024 06:09
kminoda and others added 5 commits January 30, 2024 15:09
@kminoda
Merge branch 'main' into feat/ml_detection/use_container
8050460
@kminoda
update node name
eb38c1e 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
fix: fix IfCondition
a80f4de 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
fix pointpainting namespace
2fba982 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
Merge branch 'main' into feat/ml_detection/use_container
6b1a5d1
@codecov Codecov
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codecov bot commented Jan 30, 2024 •
edited
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Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (2e4b25a) 14.38% compared to head (a7d0626) 14.39%.
Report is 6 commits behind head on main.

Additional details and impacted files 
@@           Coverage Diff            @@
##             main    #6228    +/-   ##
========================================
  Coverage   14.38%   14.39%            
========================================
  Files        1906     1906            
  Lines      129910   129808   -102     
  Branches    37616    37527    -89     
========================================
- Hits        18691    18686     -5     
+ Misses      90207    90161    -46     
+ Partials    21012    20961    -51
Flag Coverage Δ *Carryforward flag
differential 0.00% <ø> (?)
total 14.39% <ø> (+<0.01%) ⬆️ Carriedforward from 0a77e4e

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

☔ View full report in Codecov by Sentry.
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@kminoda
fix: fix launch args
704589b 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
Merge remote-tracking branch 'origin' into feat/ml_detection/use_cont…
1a17a79 
…ainer
@kminoda
fix(euclidean_cluster): do not launch individual container when use_p…
a8b0d46 
…ointcloud_container is true

Signed-off-by: kminoda <koji.minoda@tier4.jp>
kminoda and others added 3 commits January 31, 2024 10:37
@kminoda
fix(euclidean_cluster): fix launch condition
24f6e50 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda
fix(euclidean_cluster): fix launch condition
095e70f 
Signed-off-by: kminoda <koji.minoda@tier4.jp>
@kminoda @miursh
Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml
9238f2c 
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
miursh
miursh approved these changes Jan 31, 2024
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LGTM

@kminoda
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kminoda commented Feb 1, 2024

@yukkysaito @knzo25 Hi, would you review this PR? We need your approval for euclidean_cluster and lidar_centerpoint, respectively.

knzo25
knzo25 approved these changes Feb 1, 2024
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LGTM 🙇

yukkysaito
yukkysaito approved these changes Feb 1, 2024
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LGTM

@kminoda kminoda merged commit 742f44a into autowarefoundation:main Feb 1, 2024
22 of 24 checks passed
@kminoda kminoda deleted the feat/ml_detection/use_container branch February 1, 2024 08:43
kminoda added a commit to kminoda/autoware.universe that referenced this pull request Feb 1, 2024
@kminoda @pre-commit-ci
@miursh @knzo25
feat(detection): add container option (autowarefoundation#6228)
0fdf988 
* feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert lidar_perception_model

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* fix: add options

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix default param

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* update node name

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix IfCondition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix pointpainting namespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix launch args

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
kminoda added a commit to kminoda/autoware.universe that referenced this pull request Feb 1, 2024
@kminoda @pre-commit-ci
@miursh @knzo25
feat(detection): add container option (autowarefoundation#6228)
1fa906b 
* feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert lidar_perception_model

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* fix: add options

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix default param

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* update node name

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix IfCondition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix pointpainting namespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix launch args

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
kminoda added a commit to tier4/autoware.universe that referenced this pull request Feb 2, 2024
@kminoda @pre-commit-ci
@miursh @knzo25
feat(detection): add container option (autowarefoundation#6228)
8158e53 
* feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert lidar_perception_model

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* fix: add options

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix default param

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* update node name

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix IfCondition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix pointpainting namespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix launch args

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Feb 7, 2024
Merged
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
@kminoda @pre-commit-ci
@miursh @knzo25 @karishma1911
feat(detection): add container option (autowarefoundation#6228)
38c2b0a 
* feat(lidar_centerpoint,image_projection_based_fusion): add pointcloud_container option

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* revert lidar_perception_model

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* style(pre-commit): autofix

* fix: add options

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix default param

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* update node name

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix IfCondition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix pointpainting namespace

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix: fix launch args

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): do not launch individual container when use_pointcloud_container is true

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* fix(euclidean_cluster): fix launch condition

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* Update perception/lidar_centerpoint/launch/lidar_centerpoint.launch.xml

Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>

---------

Signed-off-by: kminoda <koji.minoda@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <kenzo.lobos@tier4.jp>
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Reviewers

@miursh miursh miursh approved these changes

@yukkysaito yukkysaito yukkysaito approved these changes

@knzo25 knzo25 knzo25 approved these changes

@yukke42 yukke42 Awaiting requested review from yukke42

@badai-nguyen badai-nguyen Awaiting requested review from badai-nguyen

@ktro2828 ktro2828 Awaiting requested review from ktro2828

@tzhong518 tzhong518 Awaiting requested review from tzhong518

@YoshiRi YoshiRi Awaiting requested review from YoshiRi YoshiRi is a code owner

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@miursh miursh

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component:launch Launch files, scripts and initialization tools. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci)
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