Merge remote-tracking branch 'origin/tier4/universe' into feat/cuda_a…

…cceleration_and_transport_layer Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
tier4 · Dec 20, 2024 · 31c8b92 · 31c8b92
2 parents 453c3ff + 6eb32ab
commit 31c8b92
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Showing 10 changed files with 38 additions and 13 deletions.
diff --git a/aip_x1_launch/launch/sensing.launch.xml b/aip_x1_launch/launch/sensing.launch.xml
@@ -25,7 +25,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x1/vehicle_velocity_converter.param.yaml" />

diff --git a/aip_x1_launch/package.xml b/aip_x1_launch/package.xml
@@ -17,6 +17,7 @@
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_occupancy_grid_map_outlier_filter</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>individual_params</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>

diff --git a/aip_x2_launch/launch/sensing.launch.xml b/aip_x2_launch/launch/sensing.launch.xml
@@ -30,7 +30,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />

diff --git a/aip_x2_launch/package.xml b/aip_x2_launch/package.xml
@@ -14,14 +14,14 @@
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_simple_object_merger</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
   <exec_depend>dummy_diag_publisher</exec_depend>
   <exec_depend>septentrio_gnss_driver</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/aip_xx1_gen2_launch/launch/sensing.launch.xml b/aip_xx1_gen2_launch/launch/sensing.launch.xml
@@ -39,7 +39,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1_gen2/vehicle_velocity_converter.param.yaml" />

diff --git a/aip_xx1_gen2_launch/package.xml b/aip_xx1_gen2_launch/package.xml
@@ -10,20 +10,20 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
+  <exec_depend>autoware_glog_component</exec_depend>
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
   <exec_depend>autoware_radar_tracks_msgs_converter</exec_depend>
   <exec_depend>autoware_simple_object_merger</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
-  <exec_depend>glog_component</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/aip_xx1_launch/launch/sensing.launch.xml b/aip_xx1_launch/launch/sensing.launch.xml
@@ -36,7 +36,7 @@
     </include>
 
     <!-- Vehicle twist -->
-    <include file="$(find-pkg-share vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
+    <include file="$(find-pkg-share autoware_vehicle_velocity_converter)/launch/vehicle_velocity_converter.launch.xml">
       <arg name="input_vehicle_velocity_topic" value="/vehicle/status/velocity_status"/>
       <arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
       <arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_xx1/vehicle_velocity_converter.param.yaml" />

diff --git a/aip_xx1_launch/package.xml b/aip_xx1_launch/package.xml
@@ -11,18 +11,18 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
 
   <exec_depend>autoware_cuda_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_glog_component</exec_depend>
   <exec_depend>autoware_gnss_poser</exec_depend>
   <exec_depend>autoware_imu_corrector</exec_depend>
   <exec_depend>autoware_pointcloud_preprocessor</exec_depend>
+  <exec_depend>autoware_vehicle_velocity_converter</exec_depend>
   <exec_depend>common_sensor_launch</exec_depend>
-  <exec_depend>glog_component</exec_depend>
   <exec_depend>pacmod3</exec_depend>
   <exec_depend>ros2_socketcan</exec_depend>
   <exec_depend>tamagawa_imu_driver</exec_depend>
   <exec_depend>topic_tools</exec_depend>
   <exec_depend>ublox_gps</exec_depend>
   <exec_depend>usb_cam</exec_depend>
-  <exec_depend>vehicle_velocity_converter</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/common_sensor_launch/launch/nebula_node_container.launch.py b/common_sensor_launch/launch/nebula_node_container.launch.py
@@ -88,8 +88,8 @@ def create_parameter_dict(*args):
     if UnlessCondition(LaunchConfiguration("use_pointcloud_container")).evaluate(context):
         nodes.append(
             ComposableNode(
-                package="glog_component",
-                plugin="GlogComponent",
+                package="autoware_glog_component",
+                plugin="autoware::glog_component::GlogComponent",
                 name="glog_component",
             )
         )

diff --git a/common_sensor_launch/launch/spinnaker.launch.py b/common_sensor_launch/launch/spinnaker.launch.py
@@ -39,16 +39,38 @@ def load_composable_node_param(param_path):
             namespace=LaunchConfiguration("spinnaker_namespace"),
             remappings=[
                 (
-                    "camera0/image_raw",
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/image_raw",
+                    ],
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/",
+                        LaunchConfiguration("image_topic"),
+                    ],
+                ),
+                (
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/image_raw/compressed",
+                    ],
                     [
                         "camera",
                         LaunchConfiguration("camera_id"),
                         "/",
                         LaunchConfiguration("image_topic"),
+                        "/compressed",
                     ],
                 ),
                 (
-                    "camera0/camera_info",
+                    [
+                        "camera",
+                        LaunchConfiguration("camera_id"),
+                        "/camera_info",
+                    ],
                     ["camera", LaunchConfiguration("camera_id"), "/camera_info"],
                 ),
             ],
@@ -59,6 +81,7 @@ def load_composable_node_param(param_path):
                         "camera_info_url"
                     ),
                 },
+                {"use_image_transport": LaunchConfiguration("use_image_transport")},
             ],
             extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
         ),
@@ -98,6 +121,7 @@ def add_launch_arg(name: str, default_value=None):
     add_launch_arg("spinnaker_namespace", "/sensing/camera")
     add_launch_arg("spinnaker_param_path")
     add_launch_arg("camera_info_url")
+    add_launch_arg("use_image_transport", "True")
     add_launch_arg("use_intra_process", "True")
     set_camera_info_url_key = SetLaunchConfiguration(
         "camera_info_url_key",