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feat(ndt_scan_matcher): dynamic map loading #2339
feat(ndt_scan_matcher): dynamic map loading #2339
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Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
…ware.universe into feature/dynamic_map_loading
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Signed-off-by: kminoda <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Signed-off-by: kminoda <[email protected]>
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Since the PR about autoware_launch will change the config of map_loader, can you also match the config in this PR as follows? |
Codecov ReportBase: 11.37% // Head: 11.35% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2339 +/- ##
==========================================
- Coverage 11.37% 11.35% -0.02%
==========================================
Files 1277 1278 +1
Lines 89317 89625 +308
Branches 23653 23681 +28
==========================================
+ Hits 10160 10179 +19
- Misses 68386 68665 +279
- Partials 10771 10781 +10
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@KYabuuchi Thanks! You're right. Resolved here: de0ef18 @RyuYamamoto Since a parameter in map_loader has been modified in this PR, would you also review the change? |
@yukkysaito @KYabuuchi @YamatoAndo |
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@yukkysaito @KYabuuchi @YamatoAndo The reason is because we can continuously test this new feature by enabling it by default. |
@kminoda Thank you 👍 could you please note any restrictions in the readme? |
Signed-off-by: kminoda <[email protected]>
@RyuYamamoto Friendly ping for review 🙇 |
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LGTM
* first commit Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * import map update module in core Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * minor fixes. Now map update module launches!!! Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <[email protected]> * revert unnecessary fix Signed-off-by: kminoda <[email protected]> * minor fixes Signed-off-by: kminoda <[email protected]> * update launch file Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update comment Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update for ndt_omp Signed-off-by: kminoda <[email protected]> * changed parameter names Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * apply pre-commit- * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * simplify client implementation Signed-off-by: kminoda <[email protected]> * remove unnecessary comments Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * removed unused member variables Signed-off-by: kminoda <[email protected]> * set default use_dynamic_map_loading to true Signed-off-by: kminoda <[email protected]> * changed readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * reflected comments Signed-off-by: kminoda <[email protected]> * use std::optional instead of shared_ptr Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * fix parameter description Signed-off-by: kminoda <[email protected]> * revert launch output config Signed-off-by: kminoda <[email protected]> * change default subscriber name Signed-off-by: kminoda <[email protected]> * remove unnecessary setInputSource Signed-off-by: kminoda <[email protected]> * add gif Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * minor fix Signed-off-by: kminoda <[email protected]> * Update localization/ndt_scan_matcher/src/map_update_module.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * update literals Signed-off-by: kminoda <[email protected]> * update map_loader default parameters * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <[email protected]>
* first commit Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * import map update module in core Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * minor fixes. Now map update module launches!!! Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <[email protected]> * revert unnecessary fix Signed-off-by: kminoda <[email protected]> * minor fixes Signed-off-by: kminoda <[email protected]> * update launch file Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update comment Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update for ndt_omp Signed-off-by: kminoda <[email protected]> * changed parameter names Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * apply pre-commit- * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * simplify client implementation Signed-off-by: kminoda <[email protected]> * remove unnecessary comments Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * removed unused member variables Signed-off-by: kminoda <[email protected]> * set default use_dynamic_map_loading to true Signed-off-by: kminoda <[email protected]> * changed readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * reflected comments Signed-off-by: kminoda <[email protected]> * use std::optional instead of shared_ptr Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * fix parameter description Signed-off-by: kminoda <[email protected]> * revert launch output config Signed-off-by: kminoda <[email protected]> * change default subscriber name Signed-off-by: kminoda <[email protected]> * remove unnecessary setInputSource Signed-off-by: kminoda <[email protected]> * add gif Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * minor fix Signed-off-by: kminoda <[email protected]> * Update localization/ndt_scan_matcher/src/map_update_module.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * update literals Signed-off-by: kminoda <[email protected]> * update map_loader default parameters * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <[email protected]>
* first commit Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * import map update module in core Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * minor fixes. Now map update module launches!!! Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * debugged Signed-off-by: kminoda <[email protected]> * revert unnecessary fix Signed-off-by: kminoda <[email protected]> * minor fixes Signed-off-by: kminoda <[email protected]> * update launch file Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update comment Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update comment Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update for ndt_omp Signed-off-by: kminoda <[email protected]> * changed parameter names Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * apply pre-commit- * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * simplify client implementation Signed-off-by: kminoda <[email protected]> * remove unnecessary comments Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * removed unused member variables Signed-off-by: kminoda <[email protected]> * set default use_dynamic_map_loading to true Signed-off-by: kminoda <[email protected]> * changed readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * reflected comments Signed-off-by: kminoda <[email protected]> * use std::optional instead of shared_ptr Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * fix parameter description Signed-off-by: kminoda <[email protected]> * revert launch output config Signed-off-by: kminoda <[email protected]> * change default subscriber name Signed-off-by: kminoda <[email protected]> * remove unnecessary setInputSource Signed-off-by: kminoda <[email protected]> * add gif Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix * minor fix Signed-off-by: kminoda <[email protected]> * Update localization/ndt_scan_matcher/src/map_update_module.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * update literals Signed-off-by: kminoda <[email protected]> * update map_loader default parameters * update readme Signed-off-by: kminoda <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <[email protected]>
Signed-off-by: kminoda [email protected]
Description
I would like to add a dynamic map loading functionality option for
ndt_scan_matcher
.In order to pass the build CI, we first need to merge
Must be merged with
NOTE:
This PR will replace current
ndt_omp
withmultigrid_ndt_omp
, which is a customized version for dynamic map loading feature. Although most of the interfaces prepared inndt_omp
can also be used inmultigrid_ndt_omp
, there are one difference:multigrid_ndt_omp
does not haveneighborhood_search_method
option, since we currently do not implement search method other than kd-tree.Thus, do NOTE that
neighborhood_search_method
parameter inndt_scan_matcher
is also removed in this PR.Related links
https://github.com/orgs/autowarefoundation/discussions/2696
https://github.com/orgs/autowarefoundation/discussions/2812
Tests performed
I tested with a data from Autoware tutorial. The map is divided into 20m grids (sample-map-rosbag_split.zip).
use_dynamic_map_loading
is setfalse
.use_dynamic_map_loading
is set true.ndt_scan_matcher
(see/localization/pose_estimator/debug/loaded_pointcloud_map
)In addition, we, TIER IV, have confirmed that the computational resource required for dynamic map loading is low enough for several TIER IV vehicles, based on a several experiments with real hardware.
Notes for reviewers
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Post-review checklist for the PR author
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After all checkboxes are checked, anyone who has write access can merge the PR.