feat(pose_initilizer): support gnss/imu pose estimator #2904

rsasaki0109 · 2023-02-17T07:40:07Z

Description

This is a modification of pose_initilizer to use GNSS/IMU pose estimtator.
When parameter ndt_enabled is true, NdtLocalizationTriggerModule.
When parameter ekf_enabled is true, EkfLocalizationTriggerModule.

Related discussions are here.
#2848 (comment)

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codecov · 2023-02-17T08:04:22Z

Codecov Report

Patch coverage has no change and project coverage change: -0.20 ⚠️

Comparison is base (f76977a) 11.99% compared to head (4e8dd16) 11.80%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2904      +/-   ##
==========================================
- Coverage   11.99%   11.80%   -0.20%     
==========================================
  Files        1314     1315       +1     
  Lines       91445    90718     -727     
  Branches    24240    24180      -60     
==========================================
- Hits        10971    10709     -262     
+ Misses      69113    68831     -282     
+ Partials    11361    11178     -183

Flag	Coverage Δ		*Carryforward flag
differential	`8.53% <0.00%> (?)`
total	`11.81% <ø> (-0.19%)`	⬇️	Carriedforward from 3d4e2e0

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

Impacted Files	Coverage Δ
...se_initializer/ekf_localization_trigger_module.cpp	`0.00% <0.00%> (ø)`
...se_initializer/ndt_localization_trigger_module.cpp	`0.00% <0.00%> (ø)`
...zer/src/pose_initializer/pose_initializer_core.cpp	`0.00% <0.00%> (ø)`
...lude/obstacle_avoidance_planner/common_structs.hpp	`0.00% <0.00%> (-48.58%)`	⬇️
...vehicle_model/vehicle_model_bicycle_kinematics.cpp	`52.17% <0.00%> (-39.50%)`	⬇️
...clude/obstacle_avoidance_planner/mpt_optimizer.hpp	`62.50% <0.00%> (-22.12%)`	⬇️
...ner/include/behavior_path_planner/data_manager.hpp	`0.00% <0.00%> (-21.43%)`	⬇️
...terpolation/src/spline_interpolation_points_2d.cpp	`35.10% <0.00%> (-15.39%)`	⬇️
planning/obstacle_avoidance_planner/src/node.cpp	`0.12% <0.00%> (-13.46%)`	⬇️
...nner/src/vehicle_model/vehicle_model_interface.cpp	`75.00% <0.00%> (-10.72%)`	⬇️
... and 188 more

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rsasaki0109 · 2023-02-18T23:59:04Z

This implementation was not adopted due to cyclomatic complexity
afdadb3

rsasaki0109 · 2023-02-20T00:21:34Z

@YamatoAndo
Hello. I have extended pose_initilizer for gnss/imu pose estimator, please review.

localization/pose_initializer/CMakeLists.txt

localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp

localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp

localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp

localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp

isamu-takagi · 2023-02-21T06:36:28Z

@rsasaki0109
Is the copyright 2022 intentional? It is recommended to use the same year if it is almost the same as the original file, and 2023 if there is a lot of new code.

rsasaki0109 · 2023-02-21T07:08:53Z

Just conforming to localization_trigger_module.cpp, no deeper meaning. I think your suggestion is good and I will modify it.

Signed-off-by: Ryohei Sasaki <[email protected]>

…ation_trigger_module.cpp Co-authored-by: Takagi, Isamu <[email protected]> Signed-off-by: Ryohei Sasaki <[email protected]>

Signed-off-by: Ryohei Sasaki <[email protected]>

isamu-takagi · 2023-02-21T07:11:17Z

Is the copyright 2022 intentional? It is recommended to use the same year if it is almost the same as the original file, and 2023 if there is a lot of new code.

Sorry, this was a comment on the new file. Existing files will retain their original publication year. So please don't change ekf_localization_trigger_module.hpp.

Signed-off-by: Ryohei Sasaki <[email protected]>

localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp

Signed-off-by: Ryohei Sasaki <[email protected]>

isamu-takagi

LGTM

rsasaki0109 · 2023-02-28T07:48:34Z

@YamatoAndo @KeisukeShima
I would appreciate a review when you are free.

Signed-off-by: Ryohei Sasaki <[email protected]>

rsasaki0109 · 2023-03-02T05:24:18Z

@YamatoAndo @isamu-takagi
I don't have write permission, so could you please merge them?

…ation#2904) * Support GNSS/IMU pose estimator Signed-off-by: Ryohei Sasaki <[email protected]> * style(pre-commit): autofix Signed-off-by: Ryohei Sasaki <[email protected]> * Revert gnss/imu support Signed-off-by: Ryohei Sasaki <[email protected]> * Support GNSS/IMU pose estimator Signed-off-by: Ryohei Sasaki <[email protected]> * style(pre-commit): autofix Signed-off-by: Ryohei Sasaki <[email protected]> * Separate EKF and NDT trigger modules Signed-off-by: Ryohei Sasaki <[email protected]> * Integrate activate and deactivate into sendRequest Signed-off-by: Ryohei Sasaki <[email protected]> * style(pre-commit): autofix Signed-off-by: Ryohei Sasaki <[email protected]> * Change sendRequest function arguments Signed-off-by: Ryohei Sasaki <[email protected]> * style(pre-commit): autofix Signed-off-by: Ryohei Sasaki <[email protected]> * Remove unused conditional branches Signed-off-by: Ryohei Sasaki <[email protected]> * Fix command name Signed-off-by: Ryohei Sasaki <[email protected]> * Change to snake_case Signed-off-by: Ryohei Sasaki <[email protected]> * Fix typos Signed-off-by: Ryohei Sasaki <[email protected]> * Update localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp Co-authored-by: Takagi, Isamu <[email protected]> Signed-off-by: Ryohei Sasaki <[email protected]> * Update localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp Co-authored-by: Takagi, Isamu <[email protected]> Signed-off-by: Ryohei Sasaki <[email protected]> * Update copyright year Signed-off-by: Ryohei Sasaki <[email protected]> * Set the copyright year of ekf_localization_module to 2022 Signed-off-by: Ryohei Sasaki <[email protected]> * Delete unnecessary conditional branches Signed-off-by: Ryohei Sasaki <[email protected]> * Add ekf_enabled parameter Signed-off-by: Ryohei Sasaki <[email protected]> * Add #include <string> Signed-off-by: Ryohei Sasaki <[email protected]> --------- Signed-off-by: Ryohei Sasaki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohei Sasaki <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]>

github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Feb 17, 2023

rsasaki0109 changed the title ~~feat: Support GNSS/IMU pose estimator in pose_initilizer~~ feat: support gnss/imu pose estimator in pose_initilizer Feb 19, 2023

rsasaki0109 changed the title ~~feat: support gnss/imu pose estimator in pose_initilizer~~ feat(pose_initilizer): support gnss/imu pose estimator Feb 19, 2023

rsasaki0109 marked this pull request as ready for review February 19, 2023 01:43

rsasaki0109 requested review from isamu-takagi, YamatoAndo and a team as code owners February 19, 2023 01:43

rsasaki0109 assigned YamatoAndo and unassigned YamatoAndo Feb 19, 2023

rsasaki0109 mentioned this pull request Feb 20, 2023

feat: add gnss/imu localizer #2848

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isamu-takagi reviewed Feb 20, 2023

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isamu-takagi reviewed Feb 20, 2023

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localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp Outdated Show resolved Hide resolved

isamu-takagi reviewed Feb 20, 2023

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localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp Outdated Show resolved Hide resolved

isamu-takagi reviewed Feb 21, 2023

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localization/pose_initializer/src/pose_initializer/ndt_localization_trigger_module.cpp Outdated Show resolved Hide resolved

localization/pose_initializer/src/pose_initializer/ekf_localization_trigger_module.cpp Outdated Show resolved Hide resolved

rsasaki0109 and others added 11 commits February 21, 2023 16:09

Support GNSS/IMU pose estimator

74401ed

Signed-off-by: Ryohei Sasaki <[email protected]>

style(pre-commit): autofix

fb7f2cf

Signed-off-by: Ryohei Sasaki <[email protected]>

Revert gnss/imu support

8203d50

Signed-off-by: Ryohei Sasaki <[email protected]>

Support GNSS/IMU pose estimator

1a4b2e0

Signed-off-by: Ryohei Sasaki <[email protected]>

style(pre-commit): autofix

ea4f95e

Signed-off-by: Ryohei Sasaki <[email protected]>

Separate EKF and NDT trigger modules

06fbc30

Signed-off-by: Ryohei Sasaki <[email protected]>

Integrate activate and deactivate into sendRequest

b87dce9

Signed-off-by: Ryohei Sasaki <[email protected]>

style(pre-commit): autofix

06db5c8

Signed-off-by: Ryohei Sasaki <[email protected]>

Change sendRequest function arguments

87c140f

Signed-off-by: Ryohei Sasaki <[email protected]>

style(pre-commit): autofix

212786a

Signed-off-by: Ryohei Sasaki <[email protected]>

Remove unused conditional branches

621bf79

Signed-off-by: Ryohei Sasaki <[email protected]>

rsasaki0109 and others added 6 commits February 21, 2023 16:09

Fix command name

b56f6fd

Signed-off-by: Ryohei Sasaki <[email protected]>

Change to snake_case

d41037b

Signed-off-by: Ryohei Sasaki <[email protected]>

Fix typos

aa6f1a2

Signed-off-by: Ryohei Sasaki <[email protected]>

Update localization/pose_initializer/src/pose_initializer/ekf_localiz…

acafda5

…ation_trigger_module.cpp Co-authored-by: Takagi, Isamu <[email protected]> Signed-off-by: Ryohei Sasaki <[email protected]>

Update localization/pose_initializer/src/pose_initializer/ndt_localiz…

79b59eb

…ation_trigger_module.cpp Co-authored-by: Takagi, Isamu <[email protected]> Signed-off-by: Ryohei Sasaki <[email protected]>

Update copyright year

7aaade6

Signed-off-by: Ryohei Sasaki <[email protected]>

Set the copyright year of ekf_localization_module to 2022

e7b32fd

Signed-off-by: Ryohei Sasaki <[email protected]>

isamu-takagi reviewed Feb 21, 2023

View reviewed changes

localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp Outdated Show resolved Hide resolved

isamu-takagi reviewed Feb 21, 2023

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localization/pose_initializer/src/pose_initializer/pose_initializer_core.cpp Outdated Show resolved Hide resolved

rsasaki0109 added 2 commits February 22, 2023 06:40

Delete unnecessary conditional branches

6a98d46

Signed-off-by: Ryohei Sasaki <[email protected]>

Add ekf_enabled parameter

580d150

Signed-off-by: Ryohei Sasaki <[email protected]>

rsasaki0109 requested a review from KeisukeShima as a code owner February 23, 2023 23:24

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:launch Launch files, scripts and initialization tools. (auto-assigned) labels Feb 23, 2023

isamu-takagi approved these changes Feb 24, 2023

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KeisukeShima approved these changes Feb 28, 2023

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YamatoAndo approved these changes Mar 1, 2023

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rsasaki0109 and others added 4 commits March 1, 2023 14:48

Resolving Conflicts

cff3351

Signed-off-by: Ryohei Sasaki <[email protected]>

Merge branch 'main' into feat/extension_of_pose-intializar

9aebf2b

Add #include <string>

3d4e2e0

Signed-off-by: Ryohei Sasaki <[email protected]>

Merge branch 'main' into feat/extension_of_pose-intializar

4e8dd16

isamu-takagi merged commit ede21f3 into autowarefoundation:main Mar 2, 2023

rsasaki0109 deleted the feat/extension_of_pose-intializar branch March 2, 2023 08:34

tier4-autoware-public-bot bot mentioned this pull request Mar 3, 2023

chore: sync upstream tier4/autoware.universe#295

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feat(pose_initilizer): support gnss/imu pose estimator #2904

feat(pose_initilizer): support gnss/imu pose estimator #2904

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feat(pose_initilizer): support gnss/imu pose estimator #2904

feat(pose_initilizer): support gnss/imu pose estimator #2904

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