refactor(radar_fusion_to_detected_object): rework parameters #4663

PhoebeWu21 · 2023-08-18T05:55:25Z

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the radar_fusion_to_detected_object package.

Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.
Create the schema

Tests performed

Package built locally.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to radar_fusion_to_detected_object

Effects on system behavior

More reliable and faster parameter configuration file creation.

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Signed-off-by: PhoebeWu21 <[email protected]>

ambroise-arm

LGTM

kaspermeck-arm

Looks good!

scepter914 · 2023-08-28T08:11:40Z

.../radar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp

  core_param_.threshold_probability =
-    declare_parameter<float>("core_params.threshold_probability", 0.0);


[MUST] Probability value is defined by float in Autoware message. Please revert to float.

Hi @scepter914 , it was "float" in my previous commit, but @ambroise-arm asked me to change to "double" because of the new Declare Parameter Function. ( see in #4537 (comment))

Please let me know which to follow. Thanks!

@scepter914 Yes, as I wrote in the comment linked above, the return type of declare_parameter<float>() is actually double. So for clarity we should write declare_parameter<double>().

@PhoebeWu21 @ambroise-arm
Thank you for comment.
I agree with the reason changing from "float" to "double", but pre-commit.ci failed.
So I cannot approve until you debug this build fail.

I think two way to solve this problem.

Debug it in this PR.

Once revert the changing the parameter type and merge this PR for main branch, and make new PR for the commit of it.

I am not sure how the change from float to double relates to the pre-commit.ci failure. It is not a build job but a linting job, and the failures it reports look unrelated to the changes in this PR.
Let's see what the build-and-test* jobs result in for building the code.

There are no pre-commit.ci failures in other PR. So I guess build-and-test* jobs don't have problem and your change cause pre-commit.ci failures.
I recommend that you construct local environment and debug it.

Hi @scepter914,
Finally, pre-commit.ci check has passed.

@PhoebeWu21
[imo] Since core_param_.threshold_probability is defined as float, this is implicit type conversion here.
Is this meant?

…d_object

codecov · 2023-08-30T05:20:17Z

Codecov Report

Patch and project coverage have no change.

Comparison is base (8f9da61) 15.12% compared to head (2a3382e) 15.12%.
Report is 3 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #4663   +/-   ##
=======================================
  Coverage   15.12%   15.12%           
=======================================
  Files        1571     1571           
  Lines      108229   108165   -64     
  Branches    33224    33195   -29     
=======================================
- Hits        16367    16365    -2     
+ Misses      74032    73971   -61     
+ Partials    17830    17829    -1

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.13% <ø> (+<0.01%)`	⬆️	Carriedforward from e20eb0f

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

Files Changed	Coverage Δ
...ion/crosswalk_traffic_light_estimator/src/node.cpp	`0.00% <ø> (ø)`
...de/radar_object_fusion_to_detected_object_node.cpp	`0.00% <0.00%> (ø)`
...behavior_velocity_crosswalk_module/src/manager.cpp	`11.65% <ø> (+0.22%)`	⬆️
..._velocity_crosswalk_module/src/scene_crosswalk.cpp	`0.00% <ø> (ø)`
..._velocity_crosswalk_module/src/scene_crosswalk.hpp	`0.00% <ø> (ø)`
...avior_velocity_intersection_module/src/manager.cpp	`18.86% <ø> (ø)`
...ity_intersection_module/src/scene_intersection.cpp	`0.00% <ø> (ø)`
...ity_intersection_module/src/scene_intersection.hpp	`0.00% <ø> (ø)`

... and 2 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

…d_object

…efoundation#4663) * refactor(radar_fusion_to_detected_object): rework parameters Signed-off-by: PhoebeWu21 <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * style(pre-commit): autofix --------- Signed-off-by: PhoebeWu21 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi Tanaka <[email protected]>

refactor(radar_fusion_to_detected_object): rework parameters

b0aba4c

Signed-off-by: PhoebeWu21 <[email protected]>

PhoebeWu21 requested review from scepter914 and miursh as code owners August 18, 2023 05:55

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:perception Advanced sensor data processing and environment understanding. (auto-assigned) labels Aug 18, 2023

PhoebeWu21 requested review from kaspermeck-arm and ambroise-arm August 18, 2023 05:55

style(pre-commit): autofix

0665c2c

PhoebeWu21 mentioned this pull request Aug 18, 2023

refactor(radar_fusion_to_detected_object): rework parameters #4537

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ambroise-arm approved these changes Aug 18, 2023

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kaspermeck-arm approved these changes Aug 21, 2023

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scepter914 requested changes Aug 28, 2023

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scepter914 and others added 4 commits August 29, 2023 21:13

Merge branch 'main' into refactor-node-config-radar_fusion_to_detecte…

de52eb4

…d_object

style(pre-commit): autofix

9e17990

Merge branch 'main' into refactor-node-config-radar_fusion_to_detecte…

82ee585

…d_object

style(pre-commit): autofix

11636b8

scepter914 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 30, 2023

Merge branch 'main' into refactor-node-config-radar_fusion_to_detecte…

e20eb0f

…d_object

Merge branch 'main' into refactor-node-config-radar_fusion_to_detecte…

fe7a6c4

…d_object

scepter914 approved these changes Aug 30, 2023

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scepter914 enabled auto-merge (squash) August 30, 2023 06:07

Merge branch 'main' into refactor-node-config-radar_fusion_to_detecte…

2a3382e

…d_object

scepter914 merged commit 198587c into autowarefoundation:main Aug 30, 2023
21 of 24 checks passed

tier4-autoware-public-bot bot mentioned this pull request Aug 31, 2023

chore: sync upstream tier4/autoware.universe#781

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PhoebeWu21 deleted the refactor-node-config-radar_fusion_to_detected_object branch September 8, 2023 08:51

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refactor(radar_fusion_to_detected_object): rework parameters #4663

refactor(radar_fusion_to_detected_object): rework parameters #4663

PhoebeWu21 commented Aug 18, 2023 •

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		core_param_.threshold_probability =
		declare_parameter<float>("core_params.threshold_probability", 0.0);

refactor(radar_fusion_to_detected_object): rework parameters #4663

refactor(radar_fusion_to_detected_object): rework parameters #4663

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PhoebeWu21 commented Aug 18, 2023 • edited Loading

Description

Tests performed

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

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