refactor(crosswalk_traffic_light_estimator): rework parameters #4699

yuntianyi-chen · 2023-08-22T06:01:17Z

Description

Refactor the ROS Node configuration layout for the crosswalk_traffic_light_estimator package according to the guideline.

Create the schema and parameter files.
Remove the default values from the source code to avoid duplication.
Add a parameter last_detect_color_hold_time in the README.md file.

Tests performed

The refactored node was successfully built and tested by launching this node individually.

The running result is shown below:

Notes for reviewers

None

Interface changes

Create two configuration files perception/crosswalk_traffic_light_estimator/config/crosswalk_traffic_light_estimator.param.yaml and perception/crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json
Parameter values are now required to be passed to the node when launched.

Effects on system behavior

None

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…estimator according to the new ROS node config guideline. update the parameter information in the README.md Signed-off-by: yuntianyi-chen <[email protected]>

Signed-off-by: yuntianyi-chen <[email protected]>

…of github.com:yuntianyi-chen/autoware.universe into refactor-ros-config-crosswalk_traffic_light_estimator

Signed-off-by: yuntianyi-chen <[email protected]>

…en building the package. Signed-off-by: yuntianyi-chen <[email protected]>

...ption/crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json

Signed-off-by: yuntianyi-chen <[email protected]>

ambroise-arm

LGTM

satoshi-ota

@ambroise-arm LGTM. Thanks 👍

satoshi-ota

Oh. Sorry. I think it needs to add parameter config path in launcher file since default parameters are removed.

yuntianyi-chen · 2023-08-31T05:38:50Z

Oh. Sorry. I think it needs to add parameter config path in launcher file since default parameters are removed.

I think it's already added in the launch.xml file.
<arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>

satoshi-ota · 2023-08-31T05:58:48Z

Oh. Sorry. I think it needs to add parameter config path in launcher file since default parameters are removed.

I think it's already added in the launch.xml file. <arg name="crosswalk_traffic_light_estimator_param_file" default="$(find-pkg-share crosswalk_traffic_light_estimator)/config/crosswalk_traffic_light_estimator.param.yaml"/>

Sorry I missed it. LGTM.

satoshi-ota · 2023-08-31T06:02:17Z

hmm... It seems that this node called in tier4_perception_launch.launch.xml directly. (not via the one of this package.)

autoware.universe/launch/tier4_perception_launch/launch/traffic_light_recognition/traffic_light.launch.xml

Lines 140 to 147 in b09f309

    
           <group if="$(var use_crosswalk_traffic_light_estimator)"> 
        
             <node pkg="crosswalk_traffic_light_estimator" exec="crosswalk_traffic_light_estimator_node" name="crosswalk_traffic_light_estimator" output="screen"> 
        
               <remap from="~/input/vector_map" to="/map/vector_map"/> 
        
               <remap from="~/input/route" to="/planning/mission_planning/route"/> 
        
               <remap from="~/input/classified/traffic_signals" to="$(var fusion/traffic_signals)"/> 
        
               <remap from="~/output/traffic_signals" to="$(var internal/traffic_signals)"/> 
        
             </node> 
        
           </group>

miursh · 2023-09-07T04:02:17Z

@yuntianyi-chen
Can I add some modification to tier4_perception_launch.launch.xml to launch correctly?

yuntianyi-chen · 2023-09-07T05:38:23Z

@yuntianyi-chen Can I add some modification to tier4_perception_launch.launch.xml to launch correctly?

@miursh Sure! Please do it.

…estimator

…nch.xml Signed-off-by: Shunsuke Miura <[email protected]>

codecov · 2023-09-11T14:33:52Z

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (cdc568d) 15.91% compared to head (5cb0f3f) 15.91%.
Report is 1 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4699      +/-   ##
==========================================
- Coverage   15.91%   15.91%   -0.01%     
==========================================
  Files        1580     1580              
  Lines      109068   109016      -52     
  Branches    33634    33616      -18     
==========================================
- Hits        17363    17347      -16     
+ Misses      73079    73051      -28     
+ Partials    18626    18618       -8

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`15.91% <ø> (-0.01%)`	⬇️	Carriedforward from 22b1a43

*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% <0.00%> (ø)`

... and 3 files with indirect coverage changes

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miursh · 2023-09-11T19:56:46Z

@yuntianyi-chen Done. 5cb0f3f

miursh

LGTM

refactor the configuration files of the node crosswalk_traffic_light_…

f17932c

…estimator according to the new ROS node config guideline. update the parameter information in the README.md Signed-off-by: yuntianyi-chen <[email protected]>

yuntianyi-chen requested a review from satoshi-ota as a code owner August 22, 2023 06:01

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 22, 2023

pre-commit-ci bot and others added 4 commits August 22, 2023 06:03

style(pre-commit): autofix

9f983d9

fix the xml pre-check issue

6d6ae6e

Signed-off-by: yuntianyi-chen <[email protected]>

Merge branch 'refactor-ros-config-crosswalk_traffic_light_estimator' …

edfb3e5

…of github.com:yuntianyi-chen/autoware.universe into refactor-ros-config-crosswalk_traffic_light_estimator

delete the xml declaration to fix the xml pre-check issue

84b10b2

Signed-off-by: yuntianyi-chen <[email protected]>

kaspermeck-arm requested a review from ambroise-arm August 22, 2023 22:50

Modify the CMakeLists.txt file to enalbe /config directory sharing wh…

40363d6

…en building the package. Signed-off-by: yuntianyi-chen <[email protected]>

ambroise-arm reviewed Aug 29, 2023

View reviewed changes

...ption/crosswalk_traffic_light_estimator/schema/crosswalk_traffic_light_estimator.schema.json Show resolved Hide resolved

Update the bound for schema file.

279367e

Signed-off-by: yuntianyi-chen <[email protected]>

ambroise-arm approved these changes Aug 30, 2023

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satoshi-ota approved these changes Aug 31, 2023

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satoshi-ota self-requested a review August 31, 2023 02:44

satoshi-ota requested changes Aug 31, 2023

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yuntianyi-chen requested a review from satoshi-ota August 31, 2023 05:39

satoshi-ota approved these changes Aug 31, 2023

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ambroise-arm mentioned this pull request Aug 31, 2023

refactor(costmap_generator): rework parameters #4695

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miursh added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Sep 4, 2023

miursh and others added 2 commits September 11, 2023 23:27

Merge branch 'main' into refactor-ros-config-crosswalk_traffic_light_…

22b1a43

…estimator

add crosswalk_traffic_light_estimator_param_file to traffic_light.lau…

5cb0f3f

…nch.xml Signed-off-by: Shunsuke Miura <[email protected]>

miursh requested review from miursh and YoshiRi as code owners September 11, 2023 19:53

miursh requested a review from yukkysaito as a code owner September 11, 2023 19:53

github-actions bot added the component:launch Launch files, scripts and initialization tools. (auto-assigned) label Sep 11, 2023

miursh approved these changes Sep 11, 2023

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miursh merged commit f08e64d into autowarefoundation:main Sep 11, 2023
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tier4-autoware-public-bot bot mentioned this pull request Sep 12, 2023

chore: sync upstream tier4/autoware.universe#823

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refactor(crosswalk_traffic_light_estimator): rework parameters #4699

refactor(crosswalk_traffic_light_estimator): rework parameters #4699

yuntianyi-chen commented Aug 22, 2023 •

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refactor(crosswalk_traffic_light_estimator): rework parameters #4699

refactor(crosswalk_traffic_light_estimator): rework parameters #4699

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yuntianyi-chen commented Aug 22, 2023 • edited Loading

Description

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Tests performed

Notes for reviewers

Interface changes

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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yuntianyi-chen commented Aug 31, 2023 • edited Loading

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