Merge pull request #25 from tier4/tier4/universe

merge main for galactic release

Author: yabuta

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,55 +1,42 @@
-## PR Type
-
-<!-- Select one and remove others. If an appropriate one is not listed, please write by yourself. -->
-
-- New Feature
-- Improvement
-- Bug Fix
-
-## Related Links
-
-<!-- Please write related links to GitHub/Jira/Slack/etc. -->
-
 ## Description
 
-<!-- Describe what this PR changes. -->
+<!-- Write a brief description of this PR. -->
+
+## Related links
 
-## Review Procedure
+<!-- Write the links related to this PR. -->
 
-<!-- Explain how to review this PR. -->
+## Tests performed
 
-## Remarks
+<!-- Describe how you have tested this PR. -->
 
-<!-- Write remarks as you like if you need them. -->
+## Notes for reviewers
 
-## Pre-Review Checklist for the PR Author
+<!-- Write additional information if necessary. It should be written if there are related PRs that should be merged at the same time. -->
 
-**PR Author should check the checkboxes below when creating the PR.**
+## Pre-review checklist for the PR author
 
-- [ ] Code follows [coding guidelines][coding-guidelines]
-- [ ] Assign PR to reviewer
+The PR author **must** check the checkboxes below when creating the PR.
 
-## Checklist for the PR Reviewer
+- [ ] I've confirmed the [contribution guidelines].
+- [ ] The PR follows the [pull request guidelines].
 
-**Reviewers should check the checkboxes below before approval.**
+## In-review checklist for the PR reviewers
 
-- [ ] Commits are properly organized and messages are according to the guideline
-- [ ] Code follows [coding guidelines][coding-guidelines]
-- [ ] (Optional) Unit tests have been written for new behavior
-- [ ] PR title describes the changes
+The PR reviewers **must** check the checkboxes below before approval.
 
-## Post-Review Checklist for the PR Author
+- [ ] The PR follows the [pull request guidelines].
+- [ ] The PR has been properly tested.
+- [ ] The PR has been reviewed by the code owners.
 
-**PR Author should check the checkboxes below before merging.**
+## Post-review checklist for the PR author
 
-- [ ] All open points are addressed and tracked via issues or tickets
-- [ ] Write [release notes][release-notes]
+The PR author **must** check the checkboxes below before merging.
 
-## CI Checks
+- [ ] There are no open discussions or they are tracked via tickets.
+- [ ] The PR is ready for merge.
 
-- **Build and test for PR**: Required to pass before the merge.
-- **Check spelling**: NOT required to pass before the merge. It is up to the reviewer(s). See [here][spell-check-dict] if you want to add some words to the spell check dictionary.
+After all checkboxes are checked, anyone who has write access can merge the PR.
 
-[coding-guidelines]: https://tier4.atlassian.net/wiki/spaces/AIP/pages/1194394777/T4
-[release-notes]: https://tier4.atlassian.net/l/c/X1p69s6B
-[spell-check-dict]: https://github.com/tier4/autoware-spell-check-dict#how-to-contribute
+[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/
+[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/

.github/workflows/sync-tier4-universe-to-humble.yml

@@ -0,0 +1,27 @@
+name: sync-tier4-universe-to-humble
+on:
+  schedule:
+    - cron: 0 0 * * *
+  workflow_dispatch:
+
+jobs:
+  sync-branches:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Generate token
+        id: generate-token
+        uses: tibdex/github-app-token@v1
+        with:
+          app_id: ${{ secrets.APP_ID }}
+          private_key: ${{ secrets.PRIVATE_KEY }}
+
+      - name: Run sync-branches
+        uses: autowarefoundation/autoware-github-actions/sync-branches@v1
+        with:
+          token: ${{ steps.generate-token.outputs.token }}
+          base-branch: humble
+          sync-target-repository: git@github.com:tier4/CalibrationTools.git
+          sync-target-branch: tier4/universe
+          sync-branch: sync-tier4-universe-to-humble
+          pr-title: "chore: sync tier4/universe to humble"
+          auto-merge-method: merge

README.md

@@ -4,21 +4,18 @@ Calibration tools used for autonomous driving
 
 ## Requirement
 
-- Ubuntu20.04
-- Ros Galactic
-
+- Ubuntu 20.04
+- ROS 2 Galactic
 
 ## Installation procedures
 
-After cloning pilot-auto(private repository) or [autoware](https://github.com/tier4/autoware), execute the following commands:
+After installing [autoware](https://github.com/tier4/autoware) (please see [source-installation](https://autowarefoundation.github.io/autoware-documentation/main/installation/autoware/source-installation/) page), execute the following commands:
 
 ```bash
-mkdir src
-vcs import src < autoware.repos
-cd src/autoware
-git clone git@github.com:tier4/CalibrationTools.git
-cd ../../
-vcs import src < src/autoware/calibration_tools/calibration_tools.repos
+cd autoware
+wget https://raw.githubusercontent.com/tier4/CalibrationTools/tier4/universe/calibration_tools.repos
+vcs import src < calibration_tools.repos
+rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
 colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 
@@ -28,28 +25,28 @@ colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
 
 We provide calibration tool for sensor pairs like LiDAR - LiDAR, LiDAR - Camera, etc.
 
-[README](https://github.com/tier4/calibration_tools.iv/blob/tier4/universe/sensor/README.md)
+[README](sensor/README.md)
 
 ### localization - deviation estimation tools
 
 Estimate parameters of sensors used for dead reckoning (IMU and odometry) for a better localization performance
 
-[README](https://github.com/tier4/calibration_tools.iv/blob/tier4/universe/localization/deviation_estimation_tools/ReadMe.md)
+[README](localization/deviation_estimation_tools/ReadMe.md)
 
 ### control - vehicle cmd analyzer
 
 Visualization and analysis tools for the control outputs from Autoware
 
-[README](https://github.com/tier4/calibration_tools.iv/blob/tier4/universe/control/vehicle_cmd_analyzer/README.md)
+[README](control/vehicle_cmd_analyzer/README.md)
 
 ### vehicle - time delay estimator
 
 Calibration tool to fix the delay of the commands to the vehicle
 
-[README](https://github.com/tier4/calibration_tools.iv/blob/tier4/universe/vehicle/time_delay_estimator/README.md)
+[README](vehicle/time_delay_estimator/README.md)
 
 ### system - tunable static tf broadcaster
 
 GUI to modify the parameters of generic TFs.
 
-[README](https://github.com/tier4/calibration_tools.iv/blob/tier4/universe/system/tunable_static_tf_broadcaster/README.md)
+[README](system/tunable_static_tf_broadcaster/README.md)

calibration_tools.repos

@@ -1,4 +1,8 @@
 repositories:
+  autoware/calibration_tools:
+    type: git
+    url: git@github.com:tier4/CalibrationTools.git
+    version: tier4/universe
   vendor/lidartag:
     type: git
     url: git@github.com:tier4/LiDARTag.git
@@ -19,3 +23,7 @@ repositories:
     type: git
     url: git@github.com:Box-Robotics/ros2_numpy.git
     version: rolling
+  vendor/image_pipeline:
+    type: git
+    url: https://github.com/tier4/image_pipeline.git
+    version: 47964112293eb19f9f57254b2e6b68706954cc63

control/stop_accel_evaluator/COLCON_IGNORE

@@ -45,8 +45,8 @@ StopAccelEvaluatorNode::StopAccelEvaluatorNode(const rclcpp::NodeOptions & node_
   stop_valid_imu_accel_num_ = this->declare_parameter("stop_valid_imu_accel_num", 4);
 
   {  // lowpass filter
-    lpf_pitch_ = std::make_shared<LowpassFilter1d>(0.0, this->declare_parameter("lpf_pitch_gain", 0.95));
-    lpf_acc_ = std::make_shared<LowpassFilter1d>(0.0, this->declare_parameter("lpf_acc_gain", 0.2));
+    lpf_pitch_ = std::make_shared<LowpassFilter1d>(this->declare_parameter("lpf_pitch_gain", 0.95));
+    lpf_acc_ = std::make_shared<LowpassFilter1d>(this->declare_parameter("lpf_acc_gain", 0.2));
   }
 
   sub_twist_ = this->create_subscription<Odometry>(

control/stop_accel_evaluator/src/stop_accel_evaluator_node.cpp

@@ -30,6 +30,7 @@ If your are using rosbag, it should contain the following topics:
 - /localization/pose_estimator/pose_with_covariance
 - /clock
 - /tf_static (that contains transform from `base_link` to `imu_link`)
+- (/localization/twist_estimator/twist_with_covariance: required in the next step)
 - (/localization/pose_twist_fusion_filter/kinematic_state: required in the next step)
 
 Play the rosbag in a different terminal:
@@ -43,17 +44,19 @@ ros2 bag play YOUR_BAG # You can also play in a faster rate, e.g. -r 5
 
 ```sh
 Files:             localized_not_calibrated_0.db3
-Bag size:          11.1 MiB
+Bag size:          9.6 MiB
 Storage id:        sqlite3
-Duration:          151.303s
-Start:             Apr 20 2022 20:49:10.440 (1650455350.440)
-End:               Apr 20 2022 20:51:41.744 (1650455501.744)
-Messages:          53400
-Topic information: Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 9806 | Serialization Format: cdr
-                   Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 30260 | Serialization Format: cdr
-                   Topic: /localization/twist_estimator/twist_with_covariance | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 4281 | Serialization Format: cdr
-                   Topic: /localization/pose_estimator/pose_with_covariance | Type: geometry_msgs/msg/PoseWithCovarianceStamped | Count: 1484 | Serialization Format: cdr
-                   Topic: /localization/pose_twist_fusion_filter/kinematic_state | Type: nav_msgs/msg/Odometry | Count: 7565 | Serialization Format: cdr
+Duration:          76.539s
+Start:             Jul  8 2022 11:21:41.220 (1657246901.220)
+End:               Jul  8 2022 11:22:57.759 (1657246977.759)
+Messages:          32855
+Topic information: Topic: /localization/twist_estimator/twist_with_covariance_raw | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 2139 | Serialization Format: cdr
+                   Topic: /localization/kinematic_state | Type: nav_msgs/msg/Odometry | Count: 3792 | Serialization Format: cdr
+                   Topic: /localization/twist_estimator/twist_with_covariance | Type: geometry_msgs/msg/TwistWithCovarianceStamped | Count: 2139 | Serialization Format: cdr
+                   Topic: /clock | Type: rosgraph_msgs/msg/Clock | Count: 15308 | Serialization Format: cdr
+                   Topic: /tf | Type: tf2_msgs/msg/TFMessage | Count: 4950 | Serialization Format: cdr
+                   Topic: /localization/pose_twist_fusion_filter/kinematic_state | Type: nav_msgs/msg/Odometry | Count: 3792 | Serialization Format: cdr
+                   Topic: /localization/pose_estimator/pose_with_covariance | Type: geometry_msgs/msg/PoseWithCovarianceStamped | Count: 731 | Serialization Format: cdr
                    Topic: /tf_static | Type: tf2_msgs/msg/TFMessage | Count: 4 | Serialization Format: cdr
 
 ```

localization/deviation_estimation_tools/ReadMe.md

@@ -1,4 +1,4 @@
-parameter_estimator:
+/**:
   ros__parameters:
     # Parameters that you want to evaluate
     stddev_vx: 0.3 # [m/s]

localization/deviation_estimation_tools/deviation_evaluator/config/deviation_evaluator.yaml renamed to localization/deviation_estimation_tools/deviation_evaluator/config/deviation_evaluator.param.yaml

@@ -5,16 +5,15 @@
   <arg name="rviz" default="false" description="launch rviz"/>
   <arg name="map_path" default="" description="point cloud and lanelet2 map directory path"/>
   <arg name="save_dir" default="/home/$(env USER)/deviation_evaluator_sample"/>
-  <arg name="param_path" default="$(find-pkg-share deviation_evaluator)/config/deviation_evaluator.yaml"/>
+  <arg name="param_path" default="$(find-pkg-share deviation_evaluator)/config/deviation_evaluator.param.yaml"/>
 
   <arg name="in_twist_with_covariance" default="/localization/twist_estimator/twist_with_covariance"/>
   <arg name="in_ndt_pose_with_covariance" default="/localization/pose_estimator/pose_with_covariance"/>
   <arg name="in_ekf_gt_odom" default="/localization/pose_twist_fusion_filter/kinematic_state"/>
   <arg name="out_ekf_odom" default="/localization/deviation_evaluator/ekf_localizer/kinematic_state"/>
   <arg name="out_twist_with_covariance" default="/localization/deviation_evaluator/twist_estimator/twist_with_covariance"/>
   <arg name="out_pose_with_covariance" default="/localization/deviation_evaluator/pose_estimator/pose_with_covariance"/>
-  <arg name="lanelet2_map_file" default="lanelet2_map.osm" />
-  <arg name="pointcloud_map_file" default="pointcloud_map.pcd" />
+  <arg name="lanelet2_map_file" default="$(var map_path)/lanelet2_map.osm" />
 
   <node pkg="deviation_evaluator" exec="deviation_evaluator" name="deviation_evaluator" output="screen">
     <remap from="in_twist_with_covariance" to="$(var in_twist_with_covariance)"/>
@@ -52,9 +51,10 @@
 
   <!-- Map -->
   <group>
-    <include file="$(find-pkg-share map_launch)/launch/map.launch.py" if="$(var rviz)">
-      <arg name="lanelet2_map_path" value="$(var map_path)/$(var lanelet2_map_file)" />
-      <arg name="pointcloud_map_path" value="$(var map_path)/$(var pointcloud_map_file)"/>
+    <include file="$(find-pkg-share map_loader)/launch/lanelet2_map_loader.launch.xml" if="$(var rviz)">
+      <arg name="lanelet2_map_path" value="$(var lanelet2_map_file)"/>
+      <arg name="lanelet2_map_topic" value="/map/vector_map"/>
+      <arg name="lanelet2_map_marker_topic" value="/map/vector_map_marker"/>
     </include>
   </group>