Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

Merged
merged 10 commits into from
Nov 11, 2022
Merged

feat(pointcloud_preprocessor): use point_cloud_msg_wrapper #1276

merged 10 commits into from
Nov 11, 2022

Conversation

esteve
Copy link
Contributor

@esteve esteve commented Jul 7, 2022 •
edited by xmfcx
Loading

Description

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

Related links

#1199

Tests performed

Notes for reviewers

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.

  • The PR follows the pull request guidelines.
  • The PR has been properly tested.
  • The PR has been reviewed by the code owners.

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.
  • The PR is ready for merge.

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

@esteve 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
@codecov
Copy link

codecov bot commented Jul 9, 2022 •
edited
Loading

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)

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

miursh pushed a commit to miursh/autoware.universe that referenced this pull request Jul 12, 2022
@tkimura4 @mitsudome-r
@nnmm @nik-tier4 @TakaHoribe @kmiya @wep21 @kenji-miyake @isamu-takagi @KeisukeShima @maxime-clem @rej55 @1222-takeshi @pre-commit-ci
feat: add costmap_generator package (autowarefoundation#32)
1f9486e 
* release v0.4.0

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <[email protected]>

* Revert "remove ROS1 packages temporarily"

This reverts commit d3dea73de174d06d8c3c97500db37501c957f521.

Signed-off-by: mitsudome-r <[email protected]>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <[email protected]>

* 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 <[email protected]>

* 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 <[email protected]>

* fix TFs

Signed-off-by: mitsudome-r <[email protected]>

* fix launch files

Signed-off-by: mitsudome-r <[email protected]>

* delete unnecessary files

Signed-off-by: mitsudome-r <[email protected]>

Co-authored-by: mitsudome-r <[email protected]>

* 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 <[email protected]>

* reduce terminal ouput for better error message visibility (autowarefoundation#200)

* reduce terminal ouput for better error message visibility

Signed-off-by: mitsudome-r <[email protected]>

* [costmap_generator] fix waiting for first transform

Signed-off-by: mitsudome-r <[email protected]>

* fix tests

Signed-off-by: mitsudome-r <[email protected]>

* fix test

Signed-off-by: mitsudome-r <[email protected]>

* 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 <[email protected]>

* Sensor data qos (autowarefoundation#407)

* Use sensor data qos for pointcloud preprocessor

Signed-off-by: Autoware <[email protected]>

* Use sensor data qos for pointcloud

Signed-off-by: Autoware <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

* Use sensor data qos for livox tag filter and vector map filter

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Autoware <[email protected]>

* Fix transform (autowarefoundation#420)

* Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform

Signed-off-by: Kenji Miyake <[email protected]>

* Fix canTransform

Signed-off-by: Kenji Miyake <[email protected]>

* Fix test

Signed-off-by: Kenji Miyake <[email protected]>

* Ros2 fix topic name part1 (autowarefoundation#408)

* Fix topic name of lane_departure_checker debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_departure_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_stop_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of freespace_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of surround_obstacle_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of emergency_handler

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint errors

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo

Signed-off-by: Takagi, Isamu <[email protected]>

* 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 <[email protected]>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <[email protected]>

* Fix/fix costmap generator bugs ros2 (autowarefoundation#1358)

* Fix/fix costmap generator bugs (autowarefoundation#1276)

* Apply format

Signed-off-by: Kenji Miyake <[email protected]>

* Transform pointcloud before generating costmap

Signed-off-by: Kenji Miyake <[email protected]>

* Fix makeExpandedPoint

Signed-off-by: Kenji Miyake <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

* Use tf2 buffer core API

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Fix wrong rate in freespace_planner (autowarefoundation#1564)

Signed-off-by: Kenji Miyake <[email protected]>

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore .param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Apply format

Signed-off-by: Kenji Miyake <[email protected]>

* 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 <[email protected]>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <[email protected]>

* Apply Black

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <[email protected]>

* 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 <[email protected]>

* ignore testing

Signed-off-by: Takamasa Horibe <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>

* Port parking modules (autowarefoundation#738)

* Port costmap_generator

* Port freespace_planner

* fix readme

* ci(pre-commit): autofix

* fix readme

Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: nik-tier4 <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Autoware <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Maxime CLEMENT <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Takeshi Miura <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
@esteve 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 esteve marked this pull request as ready for review July 14, 2022 13:22
@esteve esteve requested a review from kenji-miyake July 14, 2022 13:23
@stale
Copy link

stale bot commented Sep 13, 2022

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

@stale stale bot added the status:stale Inactive or outdated issues. (auto-assigned) label Sep 13, 2022
@xmfcx xmfcx requested review from kaancolak and removed request for aohsato, yukkysaito, kenji-miyake and miursh October 4, 2022 15:58
@stale stale bot removed status:stale Inactive or outdated issues. (auto-assigned) labels Oct 4, 2022
@esteve esteve force-pushed the point-cloud-msg-wrapper-pointcloud-preprocessor branch from e46b52a to 3a28f42 Compare October 6, 2022 11:19
yukkysaito
yukkysaito approved these changes Oct 11, 2022
View reviewed changes
Copy link
Contributor

@yukkysaito yukkysaito left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

LGTM

@kaancolak
Copy link
Contributor

LGTM

@xmfcx xmfcx force-pushed the point-cloud-msg-wrapper-pointcloud-preprocessor branch from 672ab2f to fcb1b9c Compare November 11, 2022 13:51
@xmfcx xmfcx requested a review from miursh as a code owner November 11, 2022 13:51
@xmfcx xmfcx enabled auto-merge (squash) November 11, 2022 14:01
@xmfcx xmfcx merged commit ef7dcda into main Nov 11, 2022
@xmfcx xmfcx deleted the point-cloud-msg-wrapper-pointcloud-preprocessor branch November 11, 2022 15:25
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Nov 12, 2022
Merged
This was referenced Nov 16, 2022
Closed
Open
miursh added a commit that referenced this pull request Nov 18, 2022
@miursh
Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (#…
6498589 
…1276)"

This reverts commit ef7dcda.
@miursh miursh mentioned this pull request Nov 18, 2022
Merged
@miursh
Copy link
Contributor

miursh commented Nov 18, 2022

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

miursh added a commit that referenced this pull request Nov 21, 2022
@miursh
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.
HansRobo pushed a commit to HansRobo/autoware.universe that referenced this pull request Dec 16, 2022
@esteve @HansRobo
feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowaref…
99aa876 
…oundation#1276)

Signed-off-by: Esteve Fernandez <[email protected]>
Signed-off-by: Kotaro Yoshimoto <[email protected]>
HansRobo pushed a commit to HansRobo/autoware.universe that referenced this pull request Dec 16, 2022
@miursh @HansRobo
revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (a…
a894a54 
…utowarefoundation#2317)

Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowarefoundation#1276)"

This reverts commit ef7dcda.

Signed-off-by: Kotaro Yoshimoto <[email protected]>
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Jan 6, 2023
@miursh @kminoda
revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (a…
76eae06 
…utowarefoundation#2317)

Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowarefoundation#1276)"

This reverts commit ef7dcda.

Signed-off-by: kminoda <[email protected]>
YoshiRi pushed a commit to YoshiRi/autoware.universe that referenced this pull request Jan 11, 2023
@esteve @YoshiRi
feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowaref…
35a2b05 
…oundation#1276)

Signed-off-by: Esteve Fernandez <[email protected]>
Signed-off-by: yoshiri <[email protected]>
YoshiRi pushed a commit to YoshiRi/autoware.universe that referenced this pull request Jan 11, 2023
@miursh @YoshiRi
revert: "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper" (a…
871024d 
…utowarefoundation#2317)

Revert "feat(pointcloud_preprocessor): use point_cloud_msg_wrapper (autowarefoundation#1276)"

This reverts commit ef7dcda.

Signed-off-by: yoshiri <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@yukkysaito yukkysaito yukkysaito approved these changes

@kaancolak kaancolak kaancolak approved these changes

@amc-nu amc-nu Awaiting requested review from amc-nu

@miursh miursh Awaiting requested review from miursh

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
5 participants
@esteve @kaancolak @miursh @yukkysaito @xmfcx