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Merged
merged 14 commits into from
Mar 11, 2025
Merged

refactor(perception): refactor launch file and add parameter file #1336

merged 14 commits into from
Mar 11, 2025

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MasatoSaeki
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@MasatoSaeki MasatoSaeki commented Feb 21, 2025 •
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Description

Refactoring the launcher around TLR pipeline.
See this PR for information.

Related link

autowarefoundation/autoware_universe#10186

How was this PR tested?

See this PR for information.

For @yukkysaito and @mitsudome-r as e2e_simulator.launch.xml owner
I checked on AWSIM like below.

 ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=/home/masatosaeki/awsim/shinjuku_map/map
Screencast.from.03-01-2025.06.14.58.PM.webm

Notes for reviewers

None.

Effects on system behavior

None.

@MasatoSaeki
fundamental change
4f0fde5 
Signed-off-by: MasatoSaeki <[email protected]>
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github-actions bot commented Feb 21, 2025 •
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Thank you for contributing to the Autoware project!

🚧 If your pull request is in progress, switch it to draft mode.

Please ensure:

@MasatoSaeki MasatoSaeki mentioned this pull request Feb 21, 2025
Merged
@MasatoSaeki
for awsim
1212abf 
Signed-off-by: MasatoSaeki <[email protected]>
@MasatoSaeki MasatoSaeki marked this pull request as ready for review March 1, 2025 14:13
@MasatoSaeki MasatoSaeki added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Mar 1, 2025
YoshiRi
YoshiRi reviewed Mar 1, 2025
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...n/traffic_light_recognition/traffic_light_classifier/car_traffic_light_classifier.param.yaml Outdated
Comment on lines 4 to 7
precision: fp16
mean: [123.675, 116.28, 103.53]
std: [58.395, 57.12, 57.375]
backlight_threshold: 0.85
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I think these apartments should be dependent on the ML model description in the autoware data for the future?
If you agree please add some comment in this file.

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I think these apartments should be dependent on the ML model description in the autoware data for the future?

Yes, I think so, but description in onnx file is used as version. So I want to use this function in the future. So now, I only left the comment for causion on 401d504.

...gnition/traffic_light_map_based_detector/camera7_traffic_light_map_based_detector.param.yaml
ros__parameters:
max_vibration_pitch: 0.01745329251 # -0.5 ~ 0.5 deg
max_vibration_yaw: 0.01745329251 # -0.5 ~ 0.5 deg
max_vibration_height: 0.5 # -0.25 ~ 0.25 m
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Want better comments around these params.
Parameter name should include absolute or something🫠(not in this pr)

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This mean x < |max_vibration_hoge/2|.
But it is not easy to understand, so I will modify another PR like x < |max_vibration_hoge_abs| (of course, I will modify the logic to make it so.)
What do you think?(It is okay to tell me when another PR is opened)

@MasatoSaeki
add comment
401d504 
Signed-off-by: MasatoSaeki <[email protected]>
technolojin
technolojin approved these changes Mar 3, 2025
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LGTM

autoware_launch/launch/components/tier4_perception_component.launch.xml
<arg name="traffic_light_recognition/classification/car/model_path" value="$(var data_path)/traffic_light_classifier/traffic_light_classifier_mobilenetv2_batch_6.onnx"/>
<arg name="traffic_light_recognition/classification/car/label_path" value="$(var data_path)/traffic_light_classifier/lamp_labels.txt"/>
<arg name="traffic_light_recognition/classification/pedestrian/model_path" value="$(var data_path)/traffic_light_classifier/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx"/>
<arg name="traffic_light_recognition/classification/pedestrian/label_path" value="$(var data_path)/traffic_light_classifier/lamp_labels_ped.txt"/>
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MEMO：
All model paths became launcher arguments and defined at the top of the launcher (here).

@github-actions github-actions bot added the component:map Map creation, storage, and loading. (auto-assigned) label Mar 10, 2025
@MasatoSaeki
chore
06376dc 
Signed-off-by: MasatoSaeki <[email protected]>
@MasatoSaeki MasatoSaeki merged commit edcdb79 into autowarefoundation:main Mar 11, 2025
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@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Mar 11, 2025
Merged
@MasatoSaeki MasatoSaeki deleted the chore/refactor_tlr_launch branch March 26, 2025 05:52
MasatoSaeki added a commit to tier4/autoware_launch that referenced this pull request May 26, 2025
@MasatoSaeki @pre-commit-ci @knzo25
refactor(perception): refactor launch file and add parameter file (au…
a3cfd70 
…towarefoundation#1336)

* fundamental change

Signed-off-by: MasatoSaeki <[email protected]>

* style(pre-commit): autofix

* change params name

Signed-off-by: MasatoSaeki <[email protected]>

* remove param

Signed-off-by: MasatoSaeki <[email protected]>

* integrate model and label path

Signed-off-by: MasatoSaeki <[email protected]>

* for awsim

Signed-off-by: MasatoSaeki <[email protected]>

* add comment

Signed-off-by: MasatoSaeki <[email protected]>

* fix typo

Signed-off-by: MasatoSaeki <[email protected]>

* change param name

Signed-off-by: MasatoSaeki <[email protected]>

* chore

Signed-off-by: MasatoSaeki <[email protected]>

---------

Signed-off-by: MasatoSaeki <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenzo Lobos Tsunekawa <[email protected]>
@MasatoSaeki MasatoSaeki mentioned this pull request May 26, 2025
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@YoshiRi YoshiRi YoshiRi left review comments

@yukkysaito yukkysaito yukkysaito approved these changes

@technolojin technolojin technolojin approved these changes

@mitsudome-r mitsudome-r mitsudome-r approved these changes

@miursh miursh Awaiting requested review from miursh

@kminoda kminoda Awaiting requested review from kminoda

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@MasatoSaeki @yukkysaito @YoshiRi @technolojin @mitsudome-r @knzo25