Merge branch 'develop' into feat/planning-control-evaluator

tier4 · Jul 30, 2024 · b017c63 · b017c63
2 parents 4b07ff1 + 718b1f7
commit b017c63
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Showing 16 changed files with 35 additions and 16 deletions.
diff --git a/dependency.repos b/dependency.repos
@@ -8,9 +8,22 @@ repositories:
     type: git
     url: https://github.com/autowarefoundation/autoware_adapi_msgs.git
     version: main
+  # TODO(youtalk): Remove autoware_common when https://github.com/autowarefoundation/autoware/issues/4911 is closed
   core/autoware_common:
     type: git
     url: https://github.com/autowarefoundation/autoware_common.git
+    version: remove-autoware-cmake-utils
+  core/autoware_cmake:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_cmake.git
+    version: main
+  core/autoware_utils:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_utils.git
+    version: main
+  core/autoware_lanelet2_extension:
+    type: git
+    url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git
     version: main
   # universe
   universe/external/tier4_autoware_msgs:

diff --git a/docs/use_case/annotationless_perception.en.md b/docs/use_case/annotationless_perception.en.md
@@ -11,7 +11,7 @@ Launching the file executes the following steps:
 
 1. Execute launch of evaluation node (`annotationless_perception_evaluator_node`), `logging_simulator.launch` file and `ros2 bag play` command
 2. Autoware receives sensor data output from input rosbag and the perception module performs recognition.
-3. The perception_online_evaluator publishes diagnostic topic to `/diagnostic/perception_online_evaluator/metrics`
+3. The perception_online_evaluator publishes diagnostic topic to `/perception/perception_online_evaluator/metrics`
 4. The evaluation node subscribes to the topic and evaluates data. The result is dumped into a file.
 5. When the playback of the rosbag is finished, Autoware's launch is automatically terminated, and the evaluation is completed.
 
@@ -31,7 +31,7 @@ The following two values specified in the scenario or launch argument are used t
 - Threshold
 - PassRange(Coefficient to correct threshold)
 
-Success or failure is determined for each status.name in `/diagnostic/perception_online_evaluator/metrics` according to the following rules.
+Success or failure is determined for each status.name in `/perception/perception_online_evaluator/metrics` according to the following rules.
 Items for which no threshold is set (min, max, mean) are always judged as normal. Only those items for which a threshold is specified are subject to evaluation.
 
 #### min
@@ -67,7 +67,7 @@ Subscribed topics:
 
 | Topic name                                      | Data type                             |
 | ----------------------------------------------- | ------------------------------------- |
-| /diagnostic/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray |
+| /perception/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray |
 
 Published topics:
 

diff --git a/docs/use_case/annotationless_perception.ja.md b/docs/use_case/annotationless_perception.ja.md
@@ -11,7 +11,7 @@ launch を立ち上げると以下のことが実行され、評価される。
 
 1. launch で評価ノード(`annotationless_perception_evaluator_node`)と `logging_simulator.launch`、`ros2 bag play`コマンドを立ち上げる
 2. bag から出力されたセンサーデータを autoware が受け取って、perception モジュールが認識を行う
-3. perception_online_evaluator が `/diagnostic/perception_online_evaluator/metrics`に診断結果を出力する
+3. perception_online_evaluator が `/perception/perception_online_evaluator/metrics`に診断結果を出力する
 4. 評価ノードが topic を subscribe して、各基準を満たしているかを判定して結果をファイルに記録する
 5. bag の再生が終了すると自動で launch が終了して評価が終了する
 
@@ -31,7 +31,7 @@ topic の subscribe 1 回につき、認識クラス毎に以下に記述する
 - 閾値
 - 合格範囲(閾値を補正する係数)
 
-`/diagnostic/perception_online_evaluator/metrics` のstatus.name毎に以下のルールに従い成否の判定が行われる。
+`/perception/perception_online_evaluator/metrics` のstatus.name毎に以下のルールに従い成否の判定が行われる。
 閾値が設定されてない項目(min, max, mean)に関しては常に正常と判定される。指定があるもののみが評価対象になる。
 
 #### min
@@ -67,7 +67,7 @@ Subscribed topics:
 
 | Topic name                                      | Data type                             |
 | ----------------------------------------------- | ------------------------------------- |
-| /diagnostic/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray |
+| /perception/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray |
 
 Published topics:
 

diff --git a/docs/use_case/perception.en.md b/docs/use_case/perception.en.md
@@ -165,7 +165,7 @@ Must contain the required topics in `t4_dataset` format.
 The vehicle's ECU CAN and sensors data topics are required for the evaluation to be run correctly.
 The following example shows the topic list available in evaluation input rosbag when multiple LiDARs and Cameras are used in a real-world vehicle configuration.
 
-/sensing/lidar/concatenated/pointcloud is used if the scenario LaunchSensing: false.
+/sensing/lidar/concatenated/pointcloud is used when sensing:=false is added to the launch argument.
 
 | Topic name                                           | Data type                                    |
 | ---------------------------------------------------- | -------------------------------------------- |

diff --git a/docs/use_case/perception.ja.md b/docs/use_case/perception.ja.md
@@ -164,7 +164,7 @@ t4_dataset で必要なトピックが含まれていること
 以下は例であり、違うセンサーを使っている場合は適宜読み替える。
 
 LiDAR が複数ついている場合は、搭載されているすべての LiDAR の packets を含める。
-/sensing/lidar/concatenated/pointcloud は、シナリオの LaunchSensing: false の場合に使用される。
+/sensing/lidar/concatenated/pointcloudはlaunchのargumentにsensing:=falseを追加した場合に利用される。
 
 CAMERA が複数ついている場合は、搭載されているすべての camera_info と image_rect_color_compressed を含める
 

diff --git a/docs/use_case/perception_2d.en.md b/docs/use_case/perception_2d.en.md
@@ -194,7 +194,7 @@ Must contain the required topics in `t4_dataset` format.
 The vehicle's ECU CAN and sensors data topics are required for the evaluation to be run correctly.
 The following example shows the topic list available in evaluation input rosbag when multiple LiDARs and Cameras are used in a real-world vehicle configuration.
 
-/sensing/lidar/concatenated/pointcloud is used if the scenario LaunchSensing: false.
+/sensing/lidar/concatenated/pointcloud is used when sensing:=false is added to the launch argument.
 
 If there is more than one CAMERA, include all on-board camera_info and image_rect_color_compressed.
 

diff --git a/docs/use_case/perception_2d.ja.md b/docs/use_case/perception_2d.ja.md
@@ -198,7 +198,7 @@ t4_dataset で必要なトピックが含まれていること
 以下は例であり、違うセンサーを使っている場合は適宜読み替える。
 
 LiDAR が複数ついている場合は、搭載されているすべての LiDAR の packets を含める。
-/sensing/lidar/concatenated/pointcloud は、シナリオの LaunchSensing: false の場合に使用される。
+/sensing/lidar/concatenated/pointcloudはlaunchのargumentにsensing:=falseを追加した場合に利用される。
 
 CAMERA が複数ついている場合は、搭載されているすべての camera_info と image_rect_color_compressed を含める
 

diff --git a/docs/use_case/traffic_light.en.md b/docs/use_case/traffic_light.en.md
@@ -141,7 +141,7 @@ Must contain the required topics in `t4_dataset` format.
 The vehicle's ECU CAN and sensors data topics are required for the evaluation to be run correctly.
 The following example shows the topic list available in evaluation input rosbag when multiple LiDARs and Cameras are used in a real-world vehicle configuration.
 
-/sensing/lidar/concatenated/pointcloud is used if the scenario LaunchSensing: false.
+/sensing/lidar/concatenated/pointcloud is used when sensing:=false is added to the launch argument.
 
 If there is more than one CAMERA, include all on-board camera_info and image_rect_color_compressed.
 

diff --git a/docs/use_case/traffic_light.ja.md b/docs/use_case/traffic_light.ja.md
@@ -150,7 +150,7 @@ t4_dataset で必要なトピックが含まれていること
 以下は例であり、違うセンサーを使っている場合は適宜読み替える。
 
 LiDAR が複数ついている場合は、搭載されているすべての LiDAR の packets を含める。
-/sensing/lidar/concatenated/pointcloud は、シナリオの LaunchSensing: false の場合に使用される。
+/sensing/lidar/concatenated/pointcloudはlaunchのargumentにsensing:=falseを追加した場合に利用される。
 
 CAMERA が複数ついている場合は、搭載されているすべての camera_info と image_rect_color_compressed を含める
 

diff --git a/log_evaluator/log_evaluator/launch_config.py b/log_evaluator/log_evaluator/launch_config.py
@@ -22,7 +22,7 @@
 |^/perception/object_recognition/objects$\
 |^/perception/object_recognition/tracking/multi_object_tracker/debug/.*\
 |^/perception/object_recognition/detection/.*/debug/pipeline_latency_ms$\
-|^/diagnostic/perception_online_evaluator/.*\
+|^/perception/perception_online_evaluator/.*\
 """
 
 ANNOTATIONLESS_PERCEPTION_AUTOWARE_DISABLE = {

diff --git a/log_evaluator/package.xml b/log_evaluator/package.xml
@@ -16,7 +16,6 @@
 
   <build_depend>autoware_cmake</build_depend>
 
-  <depend>autoware_auto_perception_msgs</depend>
   <depend>autoware_common_msgs</depend>
   <depend>autoware_map_msgs</depend>
   <depend>autoware_perception_msgs</depend>

diff --git a/log_evaluator/scripts/annotationless_perception_evaluator_node.py b/log_evaluator/scripts/annotationless_perception_evaluator_node.py
@@ -47,7 +47,7 @@ def __init__(self, name: str) -> None:
 
         self.__sub_diagnostics = self.create_subscription(
             DiagnosticArray,
-            "/diagnostic/perception_online_evaluator/metrics",
+            "/perception/perception_online_evaluator/metrics",
             self.diagnostics_cb,
             1,
         )

diff --git a/log_evaluator/scripts/ar_tag_based_localizer_evaluator_node.py b/log_evaluator/scripts/ar_tag_based_localizer_evaluator_node.py
@@ -38,6 +38,8 @@ def __init__(self, name: str) -> None:
         )
 
     def diagnostics_cb(self, msg: DiagnosticArray) -> None:
+        if len(msg.status) == 0:
+            return
         diag_status: DiagnosticStatus = msg.status[0]
         if diag_status.name != TARGET_DIAG_NAME:
             return

diff --git a/log_evaluator/scripts/obstacle_segmentation_evaluator_node.py b/log_evaluator/scripts/obstacle_segmentation_evaluator_node.py
@@ -303,6 +303,8 @@ def awapi_status_cb(self, msg: AwapiAutowareStatus) -> None:
                     self.__latest_stop_reasons.append(message_to_ordereddict(msg_reason))
 
     def diag_cb(self, msg: DiagnosticArray) -> None:
+        if len(msg.status) == 0:
+            return
         diag_status: DiagnosticStatus = msg.status[0]
         if diag_status.name == TARGET_DIAG_NAME:
             return

diff --git a/log_evaluator/scripts/performance_diag_evaluator_node.py b/log_evaluator/scripts/performance_diag_evaluator_node.py
@@ -75,6 +75,8 @@ def __init__(self, name: str) -> None:
         )
 
     def diag_cb(self, msg: DiagnosticArray) -> None:
+        if len(msg.status) == 0:
+            return
         diag_status: DiagnosticStatus = msg.status[0]
         is_visibility = bool(fullmatch(REGEX_VISIBILITY_DIAG_NAME, diag_status.name))
         is_blockage = bool(fullmatch(BLOCKAGE_DIAG_NAME, diag_status.name))

diff --git a/repository.cspell.json b/repository.cspell.json
@@ -34,6 +34,7 @@
     "annotationless",
     "MOTP",
     "MOTA",
-    "objdata"
+    "objdata",
+    "youtalk"
   ]
 }