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Launch cooperative perception nodes #2195

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merged 3 commits into from
Nov 21, 2023
Merged

Launch cooperative perception nodes #2195

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88bc4e1
integration_test cp
MishkaMN Nov 21, 2023
6ae49db
fix parameters issues
MishkaMN Nov 21, 2023
759a7df
revert unnecessary code
MishkaMN Nov 21, 2023
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125 changes: 123 additions & 2 deletions carma/launch/environment.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,8 @@ def generate_launch_description():
carma_wm_ctrl_param_file = os.path.join(
get_package_share_directory('carma_wm_ctrl'), 'config/parameters.yaml')


carma_cooperative_perception_param_file = os.path.join(
get_package_share_directory('carma_cooperative_perception'), 'config/params.yaml')
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The recommended way to do paths now is with pathlib. This should be refactored to something like this:

carma_cooperative_perception_param_file = str(get_package_share_directory("carma_cooperative_perception") / "config/params.yaml")

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imported pathlib to handle this


# lidar_perception_container contains all nodes for lidar based object perception
# a failure in any one node in the chain would invalidate the rest of it, so they can all be
Expand Down Expand Up @@ -284,7 +285,8 @@ def generate_launch_description():
("incoming_mobility_path", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_mobility_path" ] ),
("incoming_psm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_psm" ] ),
("incoming_bsm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_bsm" ] ),
("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] )
("georeference", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/map_param_loader/georeference" ] ),
("external_objects", "fused_external_objects")
],
parameters=[
motion_computation_param_file,
Expand Down Expand Up @@ -399,6 +401,124 @@ def generate_launch_description():
)
]
)

# Cooperative Perception Stack
carma_cooperative_perception_container = ComposableNodeContainer(
package='carma_ros2_utils', # rclcpp_components
name='carma_cooperative_perception_container',
executable='carma_component_container_mt',
namespace= GetCurrentNamespace(),
composable_node_descriptions=[
ComposableNode(
package='carma_cooperative_perception',
plugin='carma_cooperative_perception::ExternalObjectListToDetectionListNode',
name='cp_external_object_list_to_detection_list_node',
extra_arguments=[
{'use_intra_process_comms': True},
{'--log-level' : GetLogLevel('cp_external_object_list_to_detection_list_node', env_log_levels) },
{'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
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],
remappings=[
("input/georeference", "georeference"),
("output/detections", "full_detection_list"),
("input/external_objects", "external_objects"),
],
parameters=[
carma_cooperative_perception_param_file
]
),
ComposableNode(
package='carma_cooperative_perception',
plugin='carma_cooperative_perception::ExternalObjectListToSdsmNode',
name='cp_external_object_list_to_sdsm_node',
extra_arguments=[
{'use_intra_process_comms': True},
{'--log-level' : GetLogLevel('cp_external_object_list_to_sdsm_node', env_log_levels) },
{'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
],
remappings=[
("input/georeference", "georeference"),
("output/sdsms", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/outgoing_sdsm" ] ),
("input/pose_stamped", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
("input/external_objects", "external_objects"),
],
parameters=[
carma_cooperative_perception_param_file
]
),
ComposableNode(
package='carma_cooperative_perception',
plugin='carma_cooperative_perception::HostVehicleFilterNode',
name='cp_host_vehicle_filter_node',
extra_arguments=[
{'use_intra_process_comms': True},
{'--log-level' : GetLogLevel('cp_host_vehicle_filter_node', env_log_levels) },
{'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
],
remappings=[
("input/host_vehicle_pose", [ EnvironmentVariable('CARMA_LOCZ_NS', default_value=''), "/current_pose" ] ),
("input/detection_list", "full_detection_list"),
("output/detection_list", "filtered_detection_list")
],
parameters=[
carma_cooperative_perception_param_file
]
),
ComposableNode(
package='carma_cooperative_perception',
plugin='carma_cooperative_perception::SdsmToDetectionListNode',
name='cp_sdsm_to_detection_list_node',
extra_arguments=[
{'use_intra_process_comms': True},
{'--log-level' : GetLogLevel('cp_sdsm_to_detection_list_node', env_log_levels) },
{'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
],
remappings=[
("input/sdsm", [ EnvironmentVariable('CARMA_MSG_NS', default_value=''), "/incoming_sdsm" ] ),
("output/detections", "full_detection_list"),
],
parameters=[
carma_cooperative_perception_param_file
]
),
ComposableNode(
package='carma_cooperative_perception',
plugin='carma_cooperative_perception::TrackListToExternalObjectListNode',
name='cp_track_list_to_external_object_list_node',
extra_arguments=[
{'use_intra_process_comms': True},
{'--log-level' : GetLogLevel('cp_track_list_to_external_object_list_node', env_log_levels) },
{'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
],
remappings=[
("input/track_list", "cooperative_perception_track_list"),
("output/external_object_list", "fused_external_objects"),
],
parameters=[
carma_cooperative_perception_param_file
]
),
ComposableNode(
package='carma_cooperative_perception',
plugin='carma_cooperative_perception::MultipleObjectTrackerNode',
name='cp_multiple_object_tracker_node',
extra_arguments=[
{'use_intra_process_comms': True},
{'--log-level' : GetLogLevel('cp_multiple_object_tracker_node', env_log_levels) },
{'is_lifecycle_node': True} # Flag to allow lifecycle node loading in lifecycle wrapper
],
remappings=[
("output/track_list", "cooperative_perception_track_list"),
("input/detection_list", "filtered_detection_list"),
],
parameters=[
carma_cooperative_perception_param_file
]
),

]
)

# subsystem_controller which orchestrates the lifecycle of this subsystem's components
subsystem_controller = Node(
package='subsystem_controllers',
Expand All @@ -418,5 +538,6 @@ def generate_launch_description():
carma_external_objects_container,
lanelet2_map_loader_container,
lanelet2_map_visualization_container,
carma_cooperative_perception_container,
subsystem_controller
])
5 changes: 3 additions & 2 deletions carma_cooperative_perception/CMakeLists.txt
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Expand Up @@ -78,8 +78,9 @@ rclcpp_components_register_nodes(carma_cooperative_perception
"carma_cooperative_perception::ExternalObjectListToDetectionListNode"
"carma_cooperative_perception::ExternalObjectListToSdsmNode"
"carma_cooperative_perception::SdsmToDetectionListNode"
"carma_cooperative_perception::TrackListToExternalObjectListComponent"
"carma_cooperative_perception::MultipleObjectTrackerComponent"
"carma_cooperative_perception::TrackListToExternalObjectListNode"
"carma_cooperative_perception::MultipleObjectTrackerNode"
"carma_cooperative_perception::HostVehicleFilterNode"
)

ament_auto_add_executable(external_object_list_to_detection_list_node
Expand Down
9 changes: 9 additions & 0 deletions carma_cooperative_perception/src/host_vehicle_filter_component.cpp
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Expand Up @@ -16,6 +16,7 @@

#include <carma_cooperative_perception_interfaces/msg/detection.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <rclcpp_components/register_node_macro.hpp>

#include <vector>

Expand Down Expand Up @@ -188,3 +189,11 @@ auto euclidean_distance_squared(
}

} // namespace carma_cooperative_perception


// This is not our macro, so we should not worry about linting it.
// clang-tidy added support for ignoring system macros in release 14.0.0 (see the release notes
// here: https://releases.llvm.org/14.0.0/tools/clang/tools/extra/docs/ReleaseNotes.html), but
// ament_clang_tidy for ROS 2 Foxy specifically looks for clang-tidy-6.0.
RCLCPP_COMPONENTS_REGISTER_NODE( // NOLINT
carma_cooperative_perception::HostVehicleFilterNode) // NOLINT
6 changes: 6 additions & 0 deletions carma_cooperative_perception/src/track_list_to_external_object_list_component.cpp
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Expand Up @@ -85,3 +85,9 @@ auto TrackListToExternalObjectListNode::publish_as_external_object_list(
}

} // namespace carma_cooperative_perception

// This is not our macro, so we should not worry about linting it.
// clang-tidy added support for ignoring system macros in release 14.0.0 (see the release notes
// here: https://releases.llvm.org/14.0.0/tools/clang/tools/extra/docs/ReleaseNotes.html), but
// ament_clang_tidy for ROS 2 Foxy specifically looks for clang-tidy-6.0.
RCLCPP_COMPONENTS_REGISTER_NODE(carma_cooperative_perception::TrackListToExternalObjectListNode) // NOLINT