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[Don't merge] for Robobus from v0.20.1 #1061

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[Don't merge] for Robobus from v0.20.1 #1061

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7cc1488
fix: comment out unused
h-ohta Dec 7, 2023
b2c7366
comment out traffic light
h-ohta Dec 7, 2023
b59feb4
comment out unused perception
h-ohta Feb 9, 2024
dbf5630
comment out unused for tier4_localization_launch
h-ohta Dec 11, 2023
0173edd
Revert "feat(map_based_prediction): use glog (#5721)"
Dec 25, 2023
150e173
fix: disable gnss
Dec 27, 2023
34d0ca3
style(pre-commit): autofix
pre-commit-ci[bot] Feb 9, 2024
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22 changes: 11 additions & 11 deletions launch/tier4_localization_launch/launch/pose_twist_estimator/pose_twist_estimator.launch.xml
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Expand Up @@ -13,7 +13,7 @@
<push-ros-namespace namespace="util"/>
<include file="$(find-pkg-share pose_initializer)/launch/pose_initializer.launch.xml">
<arg name="ndt_enabled" value="true"/>
<arg name="gnss_enabled" value="true"/>
<arg name="gnss_enabled" value="false"/>
<arg name="ekf_enabled" value="true"/>
<arg name="yabloc_enabled" value="false"/>
<arg name="stop_check_enabled" value="$(var stop_check_enabled)"/>
Expand All @@ -30,7 +30,7 @@
</group>

<!-- YabLoc Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
<!-- <group if="$(eval &quot;'$(var pose_source)'=='yabloc'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/yabloc.launch.xml"/>
Expand All @@ -50,7 +50,7 @@
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>
</group> -->

<!-- Gyro Odometer Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var twist_source)'=='gyro_odom'&quot;)">
Expand All @@ -59,7 +59,7 @@
</group>

<!-- Eagleye Launch (as pose & twist estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
<!-- <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
<group>
<push-ros-namespace namespace="pose_twist_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
Expand All @@ -84,10 +84,10 @@
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>
</group> -->

<!-- Eagleye Launch (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
<!-- <group if="$(eval &quot;'$(var pose_source)'=='eagleye' and '$(var twist_source)'!='eagleye'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
Expand All @@ -111,20 +111,20 @@
<include file="$(find-pkg-share automatic_pose_initializer)/launch/automatic_pose_initializer.launch.xml"/>
</group>
</group>
</group>
</group> -->

<!-- Eagleye Launch (as twist estimator) -->
<group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
<!-- <group if="$(eval &quot;'$(var pose_source)'!='eagleye' and '$(var twist_source)'=='eagleye'&quot;)">
<push-ros-namespace namespace="twist_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/eagleye/eagleye_rt.launch.xml">
<arg name="output_twist_with_cov_name" value="/localization/twist_estimator/twist_with_covariance"/>
<arg name="use_eagleye_pose" value="false"/>
<arg name="use_eagleye_twist" value="true"/>
</include>
</group>
</group> -->

<!-- AR Tag Based Localizer (as pose estimator) -->
<group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
<!-- <group if="$(eval &quot;'$(var pose_source)'=='artag'&quot;)">
<group>
<push-ros-namespace namespace="pose_estimator"/>
<include file="$(find-pkg-share tier4_localization_launch)/launch/pose_twist_estimator/ar_tag_based_localizer.launch.xml"/>
Expand All @@ -148,5 +148,5 @@
<arg name="lidar_container_name" value="$(var lidar_container_name)"/>
</include>
</group>
</group>
</group> -->
</launch>
18 changes: 9 additions & 9 deletions launch/tier4_localization_launch/package.xml
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Expand Up @@ -14,11 +14,8 @@
<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>

<exec_depend>ar_tag_based_localizer</exec_depend>
<!-- <exec_depend>ar_tag_based_localizer</exec_depend> -->
<exec_depend>automatic_pose_initializer</exec_depend>
<exec_depend>eagleye_geo_pose_fusion</exec_depend>
<exec_depend>eagleye_gnss_converter</exec_depend>
<exec_depend>eagleye_rt</exec_depend>
<exec_depend>ekf_localizer</exec_depend>
<exec_depend>geo_pose_projector</exec_depend>
<exec_depend>gyro_odometer</exec_depend>
Expand All @@ -27,11 +24,14 @@
<exec_depend>pose_initializer</exec_depend>
<exec_depend>pose_instability_detector</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>yabloc_common</exec_depend>
<exec_depend>yabloc_image_processing</exec_depend>
<exec_depend>yabloc_monitor</exec_depend>
<exec_depend>yabloc_particle_filter</exec_depend>
<exec_depend>yabloc_pose_initializer</exec_depend>
<!-- <exec_depend>eagleye_geo_pose_fusion</exec_depend> -->
<!-- <exec_depend>eagleye_gnss_converter</exec_depend> -->
<!-- <exec_depend>eagleye_rt</exec_depend> -->
<!-- <exec_depend>yabloc_common</exec_depend> -->
<!-- <exec_depend>yabloc_image_processing</exec_depend> -->
<!-- <exec_depend>yabloc_monitor</exec_depend> -->
<!-- <exec_depend>yabloc_particle_filter</exec_depend> -->
<!-- <exec_depend>yabloc_pose_initializer</exec_depend> -->

<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>
Expand Down
86 changes: 43 additions & 43 deletions launch/tier4_perception_launch/launch/object_recognition/detection/detection.launch.xml
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Expand Up @@ -35,9 +35,9 @@
<arg name="radar_object_clustering_param_path" default="$(find-pkg-share radar_object_clustering)/config/radar_object_clustering.param.yaml"/>

<!-- Camera-Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_radar_fusion&quot;')"> -->
<!-- Camera-Lidar detectors -->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
Expand All @@ -63,14 +63,14 @@
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
</include> -->
<!-- Lidar dnn-based detectors-->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Radar detector-->
<group>
</include> -->
<!-- Radar detector-->
<!-- <group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
Expand All @@ -82,9 +82,9 @@
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
<!-- Object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
</group> -->
<!-- Object merger -->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_radar_merger.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
Expand All @@ -107,12 +107,12 @@
<arg name="use_object_filter" value="$(var use_object_filter)"/>
<arg name="roi_detected_object_fusion_param_path" value="$(var roi_detected_object_fusion_param_path)"/>
</include>
</group>
</group> -->

<!-- Camera-Lidar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')">
<!-- Camera-Lidar detectors -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;camera_lidar_fusion&quot;')"> -->
<!-- Camera-Lidar detectors -->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/camera_lidar_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
Expand All @@ -138,14 +138,14 @@
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_roi_based_cluster" value="$(var use_roi_based_cluster)"/>
<arg name="detection_by_tracker_param_path" value="$(var detection_by_tracker_param_path)"/>
</include>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
</include> -->
<!-- Lidar dnn-based detectors-->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
</include> -->
<!-- Object merger -->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/camera_lidar_merger.launch.xml">
<arg name="image_raw0" value="$(var image_raw0)"/>
<arg name="camera_info0" value="$(var camera_info0)"/>
<arg name="image_raw1" value="$(var image_raw1)"/>
Expand All @@ -167,46 +167,46 @@
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
</include>
</group>
</group> -->

<!-- Lidar-Radar fusion based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')">
<!-- Radar detector-->
<group>
<!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar_radar_fusion&quot;')"> -->
<!-- Radar detector-->
<!-- <group>
<push-ros-namespace namespace="radar"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="far_objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
<!-- Lidar dnn-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
</group> -->
<!-- Lidar dnn-based detectors-->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_dnn_detector.launch.xml">
<arg name="input/pointcloud" value="$(var input/pointcloud)"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
</include>
<!-- Lidar rule-based detectors-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
</include> -->
<!-- Lidar rule-based detectors-->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/lidar_rule_detector.launch.xml">
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_low_height_cropbox" value="$(var use_low_height_cropbox)"/>
<arg name="use_pointcloud_container" value="$(var use_pointcloud_container)"/>
<arg name="pointcloud_container_name" value="$(var pointcloud_container_name)"/>
</include>
<!-- Lidar object merger -->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
</include> -->
<!-- Lidar object merger -->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/merger/lidar_merger.launch.xml">
<arg name="output/objects" value="lidar/objects"/>
<arg name="lidar_detection_model" value="$(var lidar_detection_model)"/>
<arg name="use_pointcloud_map" value="$(var use_pointcloud_map)"/>
<arg name="use_object_filter" value="$(var use_object_filter)"/>
</include>
<!-- Lidar-Radar object merger-->
<include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
</include> -->
<!-- Lidar-Radar object merger-->
<!-- <include file="$(find-pkg-share radar_fusion_to_detected_object)/launch/radar_object_fusion_to_detected_object.launch.xml">
<arg name="input/objects" value="lidar/objects"/>
<arg name="input/radars" value="radar/noise_filtered_objects"/>
<arg name="output/objects" value="objects"/>
</include>
</group>
</group> -->

<!-- Lidar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;lidar&quot;')">
Expand All @@ -231,13 +231,13 @@
</group>

<!-- Radar based detection -->
<group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')">
<!-- Radar detector-->
<include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<!-- <group if="$(eval '&quot;$(var mode)&quot;==&quot;radar&quot;')"> -->
<!-- Radar detector-->
<!-- <include file="$(find-pkg-share tier4_perception_launch)/launch/object_recognition/detection/detector/radar_detector.launch.xml">
<arg name="input/radar" value="$(var input/radar)"/>
<arg name="output/objects" value="objects"/>
<arg name="radar_lanelet_filtering_range_param" value="$(var radar_lanelet_filtering_range_param)"/>
<arg name="radar_object_clustering_param_path" value="$(var radar_object_clustering_param_path)"/>
</include>
</group>
</group> -->
</launch>
4 changes: 2 additions & 2 deletions launch/tier4_perception_launch/launch/perception.launch.xml
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Expand Up @@ -231,7 +231,7 @@
</group>

<!-- Traffic light module -->
<group if="$(var use_traffic_light_recognition)">
<!-- <group if="$(var use_traffic_light_recognition)">
<push-ros-namespace namespace="traffic_light_recognition"/>
<include file="$(find-pkg-share tier4_perception_launch)/launch/traffic_light_recognition/traffic_light.launch.xml">
<arg name="enable_fine_detection" value="$(var traffic_light_recognition/enable_fine_detection)"/>
Expand All @@ -244,6 +244,6 @@
<arg name="car_traffic_light_classifier_model_name" value="$(var car_traffic_light_classifier_model_name)"/>
<arg name="pedestrian_traffic_light_classifier_model_name" value="$(var pedestrian_traffic_light_classifier_model_name)"/>
</include>
</group>
</group> -->
</group>
</launch>
4 changes: 0 additions & 4 deletions perception/map_based_prediction/CMakeLists.txt
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Expand Up @@ -6,8 +6,6 @@ autoware_package()

find_package(Eigen3 REQUIRED)

find_package(glog REQUIRED)

include_directories(
SYSTEM
${EIGEN3_INCLUDE_DIR}
Expand All @@ -19,8 +17,6 @@ ament_auto_add_library(map_based_prediction_node SHARED
src/debug.cpp
)

target_link_libraries(map_based_prediction_node glog::glog)

rclcpp_components_register_node(map_based_prediction_node
PLUGIN "map_based_prediction::MapBasedPredictionNode"
EXECUTABLE map_based_prediction
Expand Down
1 change: 0 additions & 1 deletion perception/map_based_prediction/package.xml
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Expand Up @@ -18,7 +18,6 @@
<depend>autoware_auto_perception_msgs</depend>
<depend>interpolation</depend>
<depend>lanelet2_extension</depend>
<depend>libgoogle-glog-dev</depend>
<depend>motion_utils</depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
Expand Down
4 changes: 0 additions & 4 deletions perception/map_based_prediction/src/map_based_prediction_node.cpp
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Expand Up @@ -43,8 +43,6 @@
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#endif

#include <glog/logging.h>

#include <algorithm>
#include <chrono>
#include <cmath>
Expand Down Expand Up @@ -728,8 +726,6 @@ void replaceObjectYawWithLaneletsYaw(
MapBasedPredictionNode::MapBasedPredictionNode(const rclcpp::NodeOptions & node_options)
: Node("map_based_prediction", node_options), debug_accumulated_time_(0.0)
{
google::InitGoogleLogging("map_based_prediction_node");
google::InstallFailureSignalHandler();
enable_delay_compensation_ = declare_parameter<bool>("enable_delay_compensation");
prediction_time_horizon_ = declare_parameter<double>("prediction_time_horizon");
lateral_control_time_horizon_ =
Expand Down
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