├── .github ├── ISSUE_TEMPLATE │ ├── bug.yaml │ ├── config.yml │ └── task.yaml ├── dependabot.yaml ├── pull_request_template.md ├── stale.yml ├── sync-files.yaml └── workflows │ ├── build-and-test-differential.yaml │ ├── build-and-test.yaml │ ├── comment-on-pr.yaml │ ├── github-release.yaml │ ├── pre-commit-optional.yaml │ ├── semantic-pull-request.yaml │ ├── spell-check-differential.yaml │ └── sync-files.yaml ├── .markdown-link-check.json ├── .markdownlint.yaml ├── .pre-commit-config-optional.yaml ├── .pre-commit-config.yaml ├── .prettierignore ├── .prettierrc.yaml ├── .yamllint.yaml ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── DISCLAIMER.md ├── LICENSE ├── NOTICE ├── README.md ├── build_depends.repos ├── common_sensor_launch ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── distortion_corrector_node.param.yaml │ └── ring_outlier_filter_node.param.yaml ├── launch │ ├── nebula_node_container.launch.py │ ├── robosense_Bpearl.launch.xml │ ├── robosense_Helios.launch.xml │ ├── velodyne_VLP16.launch.xml │ └── velodyne_VLS128.launch.xml └── package.xml ├── sample_sensor_kit_description ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── sensor_kit_calibration.yaml │ └── sensors_calibration.yaml ├── package.xml └── urdf │ ├── sensor_kit.xacro │ └── sensors.xacro ├── sample_sensor_kit_launch ├── CHANGELOG.rst ├── CMakeLists.txt ├── config │ ├── concatenate_and_time_sync_node.param.yaml │ ├── diagnostic_aggregator │ │ └── sensor_kit.param.yaml │ └── dummy_diag_publisher │ │ └── sensor_kit.param.yaml ├── data │ └── traffic_light_camera.yaml ├── launch │ ├── camera.launch.xml │ ├── gnss.launch.xml │ ├── imu.launch.xml │ ├── lidar.launch.xml │ ├── pointcloud_preprocessor.launch.py │ └── sensing.launch.xml └── package.xml └── setup.cfg /.github/ISSUE_TEMPLATE/bug.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: Bug 6 | description: Report a bug 7 | body: 8 | - type: checkboxes 9 | attributes: 10 | label: Checklist 11 | description: Confirm the following items before proceeding. If one cannot be satisfied, create a discussion thread instead. 12 | options: 13 | - label: I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). 14 | required: true 15 | - label: I've searched other issues and no duplicate issues were found. 16 | required: true 17 | - label: I'm convinced that this is not my fault but a bug. 18 | required: true 19 | 20 | - type: textarea 21 | attributes: 22 | label: Description 23 | description: Write a brief description of the bug. 24 | validations: 25 | required: true 26 | 27 | - type: textarea 28 | attributes: 29 | label: Expected behavior 30 | description: Describe the expected behavior. 31 | validations: 32 | required: true 33 | 34 | - type: textarea 35 | attributes: 36 | label: Actual behavior 37 | description: Describe the actual behavior. 38 | validations: 39 | required: true 40 | 41 | - type: textarea 42 | attributes: 43 | label: Steps to reproduce 44 | description: Write the steps to reproduce the bug. 45 | placeholder: |- 46 | 1. 47 | 2. 48 | 3. 49 | validations: 50 | required: true 51 | 52 | - type: textarea 53 | attributes: 54 | label: Versions 55 | description: Provide the version information. You can omit this if you believe it's irrelevant. 56 | placeholder: |- 57 | - OS: 58 | - ROS 2: 59 | - Autoware: 60 | validations: 61 | required: false 62 | 63 | - type: textarea 64 | attributes: 65 | label: Possible causes 66 | description: Write the possible causes if you have any ideas. 67 | validations: 68 | required: false 69 | 70 | - type: textarea 71 | attributes: 72 | label: Additional context 73 | description: Add any other additional context if it exists. 74 | validations: 75 | required: false 76 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | blank_issues_enabled: false 6 | contact_links: 7 | - name: Question 8 | url: https://github.com/autowarefoundation/autoware/discussions/new?category=q-a 9 | about: Ask a question 10 | 11 | - name: Feature request 12 | url: https://github.com/autowarefoundation/autoware/discussions/new?category=feature-requests 13 | about: Send a feature request 14 | 15 | - name: Idea 16 | url: https://github.com/autowarefoundation/autoware/discussions/new?category=ideas 17 | about: Post an idea 18 | -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/task.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: Task 6 | description: Plan a task 7 | body: 8 | - type: checkboxes 9 | attributes: 10 | label: Checklist 11 | description: Confirm the following items before proceeding. If one cannot be satisfied, create a discussion thread instead. 12 | options: 13 | - label: I've read the [contribution guidelines](https://github.com/autowarefoundation/autoware/blob/main/CONTRIBUTING.md). 14 | required: true 15 | - label: I've searched other issues and no duplicate issues were found. 16 | required: true 17 | - label: I've agreed with the maintainers that I can plan this task. 18 | required: true 19 | 20 | - type: textarea 21 | attributes: 22 | label: Description 23 | description: Write a brief description of the task. 24 | validations: 25 | required: true 26 | 27 | - type: textarea 28 | attributes: 29 | label: Purpose 30 | description: Describe the purpose of the task. 31 | validations: 32 | required: true 33 | 34 | - type: textarea 35 | attributes: 36 | label: Possible approaches 37 | description: Describe possible approaches for the task. 38 | validations: 39 | required: true 40 | 41 | - type: textarea 42 | attributes: 43 | label: Definition of done 44 | description: Write the definition of done for the task. 45 | validations: 46 | required: true 47 | -------------------------------------------------------------------------------- /.github/dependabot.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | version: 2 6 | updates: 7 | - package-ecosystem: github-actions 8 | directory: / 9 | # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval 10 | schedule: 11 | interval: monthly 12 | open-pull-requests-limit: 1 13 | labels: 14 | - tag:bot 15 | - type:github-actions 16 | -------------------------------------------------------------------------------- /.github/pull_request_template.md: -------------------------------------------------------------------------------- 1 | ## Description 2 | 3 | ## How was this PR tested? 4 | 5 | ## Notes for reviewers 6 | 7 | None. 8 | 9 | ## Effects on system behavior 10 | 11 | None. 12 | -------------------------------------------------------------------------------- /.github/stale.yml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | # Modified from https://github.com/probot/stale#usage 6 | 7 | # Number of days of inactivity before an Issue or Pull Request with the stale label is closed 8 | daysUntilClose: false 9 | 10 | # Label to use when marking as stale 11 | staleLabel: status:stale 12 | 13 | # Comment to post when marking as stale 14 | markComment: > 15 | This pull request has been automatically marked as stale because it has not had 16 | recent activity. 17 | -------------------------------------------------------------------------------- /.github/sync-files.yaml: -------------------------------------------------------------------------------- 1 | - repository: autowarefoundation/sync-file-templates 2 | source-dir: sources 3 | files: 4 | - source: CODE_OF_CONDUCT.md 5 | - source: CONTRIBUTING.md 6 | - source: DISCLAIMER.md 7 | - source: LICENSE 8 | - source: .github/ISSUE_TEMPLATE/bug.yaml 9 | - source: .github/ISSUE_TEMPLATE/config.yml 10 | - source: .github/ISSUE_TEMPLATE/task.yaml 11 | - source: .github/dependabot.yaml 12 | - source: .github/pull_request_template.md 13 | - source: .github/stale.yml 14 | - source: .github/workflows/comment-on-pr.yaml 15 | - source: .github/workflows/github-release.yaml 16 | - source: .github/workflows/pre-commit-optional.yaml 17 | - source: .github/workflows/semantic-pull-request.yaml 18 | - source: .github/workflows/spell-check-differential.yaml 19 | - source: .github/workflows/sync-files.yaml 20 | - source: .markdown-link-check.json 21 | - source: .markdownlint.yaml 22 | - source: .pre-commit-config.yaml 23 | - source: .pre-commit-config-optional.yaml 24 | - source: .prettierignore 25 | - source: .prettierrc.yaml 26 | - source: .yamllint.yaml 27 | - source: setup.cfg 28 | - source: .github/workflows/build-and-test.yaml 29 | - source: .github/workflows/build-and-test-differential.yaml 30 | -------------------------------------------------------------------------------- /.github/workflows/build-and-test-differential.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: build-and-test-differential 6 | 7 | on: 8 | pull_request: 9 | types: 10 | - opened 11 | - synchronize 12 | - reopened 13 | - labeled 14 | 15 | jobs: 16 | make-sure-label-is-present: 17 | uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 18 | with: 19 | label: run:build-and-test-differential 20 | 21 | build-and-test-differential: 22 | needs: make-sure-label-is-present 23 | if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} 24 | runs-on: ubuntu-22.04 25 | container: ${{ matrix.container }} 26 | strategy: 27 | fail-fast: false 28 | matrix: 29 | rosdistro: 30 | - humble 31 | include: 32 | - rosdistro: humble 33 | container: ros:humble 34 | build-depends-repos: build_depends.repos 35 | steps: 36 | - name: Set PR fetch depth 37 | run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" 38 | 39 | - name: Checkout PR branch and all PR commits 40 | uses: actions/checkout@v4 41 | with: 42 | ref: ${{ github.event.pull_request.head.sha }} 43 | fetch-depth: ${{ env.PR_FETCH_DEPTH }} 44 | 45 | - name: Show disk space before the tasks 46 | run: df -h 47 | 48 | - name: Remove exec_depend 49 | uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 50 | 51 | - name: Get modified packages 52 | id: get-modified-packages 53 | uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 54 | 55 | - name: Build 56 | if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} 57 | uses: autowarefoundation/autoware-github-actions/colcon-build@v1 58 | with: 59 | rosdistro: ${{ matrix.rosdistro }} 60 | target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} 61 | build-depends-repos: ${{ matrix.build-depends-repos }} 62 | 63 | - name: Test 64 | id: test 65 | if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} 66 | uses: autowarefoundation/autoware-github-actions/colcon-test@v1 67 | with: 68 | rosdistro: ${{ matrix.rosdistro }} 69 | target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} 70 | build-depends-repos: ${{ matrix.build-depends-repos }} 71 | 72 | - name: Upload coverage to CodeCov 73 | if: ${{ steps.test.outputs.coverage-report-files != '' }} 74 | uses: codecov/codecov-action@v5 75 | with: 76 | files: ${{ steps.test.outputs.coverage-report-files }} 77 | fail_ci_if_error: false 78 | verbose: true 79 | flags: differential 80 | 81 | - name: Show disk space after the tasks 82 | run: df -h 83 | -------------------------------------------------------------------------------- /.github/workflows/build-and-test.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: build-and-test 6 | 7 | on: 8 | push: 9 | schedule: 10 | - cron: 0 0 * * * 11 | workflow_dispatch: 12 | 13 | jobs: 14 | build-and-test: 15 | if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} 16 | runs-on: ubuntu-22.04 17 | container: ${{ matrix.container }} 18 | strategy: 19 | fail-fast: false 20 | matrix: 21 | rosdistro: 22 | - humble 23 | include: 24 | - rosdistro: humble 25 | container: ros:humble 26 | build-depends-repos: build_depends.repos 27 | steps: 28 | - name: Check out repository 29 | uses: actions/checkout@v4 30 | with: 31 | fetch-depth: 1 32 | 33 | - name: Show disk space before the tasks 34 | run: df -h 35 | 36 | - name: Remove exec_depend 37 | uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 38 | 39 | - name: Get self packages 40 | id: get-self-packages 41 | uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 42 | 43 | - name: Build 44 | if: ${{ steps.get-self-packages.outputs.self-packages != '' }} 45 | uses: autowarefoundation/autoware-github-actions/colcon-build@v1 46 | with: 47 | rosdistro: ${{ matrix.rosdistro }} 48 | target-packages: ${{ steps.get-self-packages.outputs.self-packages }} 49 | build-depends-repos: ${{ matrix.build-depends-repos }} 50 | 51 | - name: Test 52 | if: ${{ steps.get-self-packages.outputs.self-packages != '' }} 53 | id: test 54 | uses: autowarefoundation/autoware-github-actions/colcon-test@v1 55 | with: 56 | rosdistro: ${{ matrix.rosdistro }} 57 | target-packages: ${{ steps.get-self-packages.outputs.self-packages }} 58 | build-depends-repos: ${{ matrix.build-depends-repos }} 59 | 60 | - name: Upload coverage to CodeCov 61 | if: ${{ steps.test.outputs.coverage-report-files != '' }} 62 | uses: codecov/codecov-action@v5 63 | with: 64 | files: ${{ steps.test.outputs.coverage-report-files }} 65 | fail_ci_if_error: false 66 | verbose: true 67 | flags: total 68 | 69 | - name: Show disk space after the tasks 70 | run: df -h 71 | -------------------------------------------------------------------------------- /.github/workflows/comment-on-pr.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: comment-on-pr 6 | on: 7 | pull_request_target: 8 | 9 | jobs: 10 | comment-on-pr: 11 | runs-on: ubuntu-22.04 12 | permissions: 13 | pull-requests: write 14 | steps: 15 | - name: Check out repository 16 | uses: actions/checkout@v4 17 | 18 | - name: Initial PR comment 19 | uses: marocchino/sticky-pull-request-comment@v2 20 | with: 21 | message: | 22 | Thank you for contributing to the Autoware project! 23 | 24 | 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). 25 | 26 | Please ensure: 27 | - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). 28 | - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). 29 | - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). 30 | -------------------------------------------------------------------------------- /.github/workflows/github-release.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: github-release 6 | 7 | on: 8 | push: 9 | branches: 10 | - beta/v* 11 | tags: 12 | - v* 13 | workflow_dispatch: 14 | inputs: 15 | beta-branch-or-tag-name: 16 | description: The name of the beta branch or tag to release 17 | type: string 18 | required: true 19 | 20 | jobs: 21 | github-release: 22 | runs-on: ubuntu-22.04 23 | steps: 24 | - name: Set tag name 25 | id: set-tag-name 26 | run: | 27 | if [ "${{ github.event_name }}" = "workflow_dispatch" ]; then 28 | REF_NAME="${{ github.event.inputs.beta-branch-or-tag-name }}" 29 | else 30 | REF_NAME="${{ github.ref_name }}" 31 | fi 32 | 33 | echo "ref-name=$REF_NAME" >> $GITHUB_OUTPUT 34 | echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT 35 | 36 | - name: Check out repository 37 | uses: actions/checkout@v4 38 | with: 39 | fetch-depth: 0 40 | ref: ${{ steps.set-tag-name.outputs.ref-name }} 41 | 42 | - name: Set target name for beta branches 43 | id: set-target-name 44 | run: | 45 | if [[ "${{ steps.set-tag-name.outputs.ref-name }}" =~ "beta/" ]]; then 46 | echo "target-name=${{ steps.set-tag-name.outputs.ref-name }}" >> $GITHUB_OUTPUT 47 | fi 48 | 49 | - name: Create a local tag for beta branches 50 | run: | 51 | if [ "${{ steps.set-target-name.outputs.target-name }}" != "" ]; then 52 | git tag "${{ steps.set-tag-name.outputs.tag-name }}" 53 | fi 54 | 55 | - name: Run generate-changelog 56 | id: generate-changelog 57 | uses: autowarefoundation/autoware-github-actions/generate-changelog@v1 58 | 59 | - name: Select verb 60 | id: select-verb 61 | run: | 62 | has_previous_draft=$(gh release view --json isDraft -q ".isDraft" "${{ steps.set-tag-name.outputs.tag-name }}") || true 63 | 64 | verb=create 65 | if [ "$has_previous_draft" = "true" ]; then 66 | verb=edit 67 | fi 68 | 69 | echo "verb=$verb" >> $GITHUB_OUTPUT 70 | env: 71 | GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} 72 | 73 | - name: Release to GitHub 74 | run: | 75 | gh release ${{ steps.select-verb.outputs.verb }} "${{ steps.set-tag-name.outputs.tag-name }}" \ 76 | --draft \ 77 | --target "${{ steps.set-target-name.outputs.target-name }}" \ 78 | --title "Release ${{ steps.set-tag-name.outputs.tag-name }}" \ 79 | --notes "$NOTES" 80 | env: 81 | GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }} 82 | NOTES: ${{ steps.generate-changelog.outputs.changelog }} 83 | -------------------------------------------------------------------------------- /.github/workflows/pre-commit-optional.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: pre-commit-optional 6 | 7 | on: 8 | pull_request: 9 | 10 | jobs: 11 | pre-commit-optional: 12 | runs-on: ubuntu-22.04 13 | steps: 14 | - name: Check out repository 15 | uses: actions/checkout@v4 16 | with: 17 | fetch-depth: 0 18 | 19 | - name: Run pre-commit 20 | uses: autowarefoundation/autoware-github-actions/pre-commit@v1 21 | with: 22 | pre-commit-config: .pre-commit-config-optional.yaml 23 | base-branch: origin/${{ github.base_ref }} 24 | -------------------------------------------------------------------------------- /.github/workflows/semantic-pull-request.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: semantic-pull-request 6 | 7 | on: 8 | pull_request_target: 9 | types: 10 | - opened 11 | - edited 12 | - synchronize 13 | 14 | jobs: 15 | semantic-pull-request: 16 | uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1 17 | -------------------------------------------------------------------------------- /.github/workflows/spell-check-differential.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: spell-check-differential 6 | 7 | on: 8 | pull_request: 9 | 10 | jobs: 11 | spell-check-differential: 12 | runs-on: ubuntu-22.04 13 | steps: 14 | - name: Check out repository 15 | uses: actions/checkout@v4 16 | 17 | - name: Run spell-check 18 | uses: autowarefoundation/autoware-github-actions/spell-check@v1 19 | with: 20 | cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json 21 | dict-packages: | 22 | https://github.com/autowarefoundation/autoware-spell-check-dict 23 | https://github.com/tier4/cspell-dicts 24 | -------------------------------------------------------------------------------- /.github/workflows/sync-files.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | name: sync-files 6 | 7 | on: 8 | schedule: 9 | - cron: 0 0 * * * 10 | workflow_dispatch: 11 | 12 | jobs: 13 | check-secret: 14 | uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 15 | secrets: 16 | secret: ${{ secrets.APP_ID }} 17 | 18 | sync-files: 19 | needs: check-secret 20 | if: ${{ needs.check-secret.outputs.set == 'true' }} 21 | runs-on: ubuntu-22.04 22 | steps: 23 | - name: Generate token 24 | id: generate-token 25 | uses: tibdex/github-app-token@v2 26 | with: 27 | app_id: ${{ secrets.APP_ID }} 28 | private_key: ${{ secrets.PRIVATE_KEY }} 29 | 30 | - name: Run sync-files 31 | uses: autowarefoundation/autoware-github-actions/sync-files@v1 32 | with: 33 | token: ${{ steps.generate-token.outputs.token }} 34 | pr-labels: | 35 | tag:bot 36 | tag:sync-files 37 | auto-merge-method: squash 38 | -------------------------------------------------------------------------------- /.markdown-link-check.json: -------------------------------------------------------------------------------- 1 | { 2 | "aliveStatusCodes": [200, 206, 403], 3 | "ignorePatterns": [ 4 | { 5 | "pattern": "^http://localhost" 6 | }, 7 | { 8 | "pattern": "^http://127\\.0\\.0\\.1" 9 | }, 10 | { 11 | "pattern": "^https://github.com/.*/discussions/new" 12 | } 13 | ], 14 | "retryOn429": true, 15 | "retryCount": 10 16 | } 17 | -------------------------------------------------------------------------------- /.markdownlint.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. 6 | default: true 7 | MD013: false 8 | MD024: 9 | siblings_only: true 10 | MD029: 11 | style: ordered 12 | MD033: false 13 | MD041: false 14 | MD045: false 15 | MD046: false 16 | MD049: false 17 | -------------------------------------------------------------------------------- /.pre-commit-config-optional.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | repos: 6 | - repo: https://github.com/tcort/markdown-link-check 7 | rev: v3.12.2 8 | hooks: 9 | - id: markdown-link-check 10 | args: [--quiet, --config=.markdown-link-check.json] 11 | -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | # https://pre-commit.ci/#configuration 6 | ci: 7 | autofix_commit_msg: "style(pre-commit): autofix" 8 | # we already have our own daily update mechanism, we set this to quarterly 9 | autoupdate_schedule: quarterly 10 | autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate" 11 | 12 | repos: 13 | - repo: https://github.com/pre-commit/pre-commit-hooks 14 | rev: v5.0.0 15 | hooks: 16 | - id: check-json 17 | - id: check-merge-conflict 18 | - id: check-toml 19 | - id: check-xml 20 | - id: check-yaml 21 | args: [--unsafe] 22 | - id: detect-private-key 23 | - id: end-of-file-fixer 24 | - id: mixed-line-ending 25 | - id: trailing-whitespace 26 | args: [--markdown-linebreak-ext=md] 27 | 28 | - repo: https://github.com/igorshubovych/markdownlint-cli 29 | rev: v0.43.0 30 | hooks: 31 | - id: markdownlint 32 | args: [-c, .markdownlint.yaml, --fix] 33 | 34 | - repo: https://github.com/pre-commit/mirrors-prettier 35 | rev: v4.0.0-alpha.8 36 | hooks: 37 | - id: prettier 38 | 39 | - repo: https://github.com/adrienverge/yamllint 40 | rev: v1.35.1 41 | hooks: 42 | - id: yamllint 43 | 44 | - repo: https://github.com/tier4/pre-commit-hooks-ros 45 | rev: v0.10.0 46 | hooks: 47 | - id: flake8-ros 48 | - id: prettier-xacro 49 | - id: prettier-launch-xml 50 | - id: prettier-package-xml 51 | - id: ros-include-guard 52 | - id: sort-package-xml 53 | 54 | - repo: https://github.com/shellcheck-py/shellcheck-py 55 | rev: v0.10.0.1 56 | hooks: 57 | - 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repo: https://github.com/AleksaC/hadolint-py 106 | rev: v2.12.1b3 107 | hooks: 108 | - id: hadolint 109 | exclude: .svg$ 110 | -------------------------------------------------------------------------------- /.prettierignore: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | *.param.yaml 6 | *.rviz 7 | -------------------------------------------------------------------------------- /.prettierrc.yaml: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | printWidth: 100 6 | tabWidth: 2 7 | overrides: 8 | - files: package.xml 9 | options: 10 | printWidth: 1000 11 | xmlSelfClosingSpace: false 12 | xmlWhitespaceSensitivity: ignore 13 | 14 | - 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-------------------------------------------------------------------------------- 1 | autowarefoundation/sample_sensor_kit_launch 2 | Copyright 2021 The Autoware Foundation 3 | 4 | This product includes software developed at 5 | The Autoware Foundation (https://www.autoware.org/). 6 | 7 | This product includes code developed by TIER IV. 8 | Copyright 2020 TIER IV, Inc. 9 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # sample_sensor_kit_launch 2 | 3 | 🗃️ This is an archived repository. 4 | 5 | The contents of this repository are now moved to [autoware_launch](https://github.com/autowarefoundation/autoware_launch) repository. 6 | 7 | The packages from this repository now live under the `autoware_launch/sensor_kit` directory. 8 | 9 | **The reason** for this move is to consolidate all the launch files in one repository to make it easier to maintain and manage. 10 | 11 | **Related issue:** [Move launch and parameter packages into autoware_launch #5912](https://github.com/autowarefoundation/autoware/issues/5912) 12 | 13 | In the far future, the launch file structure will be updated more drastically to make them more modular and easier to use. 14 | But for those updates, please follow the [autoware_launch](https://github.com/autowarefoundation/autoware_launch) repository. 15 | -------------------------------------------------------------------------------- /build_depends.repos: -------------------------------------------------------------------------------- 1 | repositories: 2 | autoware_common: 3 | type: git 4 | url: https://github.com/autowarefoundation/autoware_common.git 5 | version: main 6 | sensor_component_description: 7 | type: git 8 | url: https://github.com/tier4/sensor_component_description.git 9 | version: main 10 | -------------------------------------------------------------------------------- /common_sensor_launch/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package common_sensor_launch 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.42.0 (2025-03-28) 6 | ------------------- 7 | 8 | 0.41.0 (2025-02-12) 9 | ------------------- 10 | * fix: add `udp_only` (`#109 `_) 11 | Added udp_only 12 | * feat(common_sensor_launch): rename velodyne_monitor to autoware_velodyne_monitor (`#119 `_) 13 | * Contributors: Ryohsuke Mitsudome, SakodaShintaro 14 | 15 | 0.40.0 (2025-01-17) 16 | ------------------- 17 | * Merge branch 'main' into release-0.40.0 18 | * fix(nebula_node_container.launch.py): autoware_glog_component (`#112 `_) 19 | Fixed autoware_glog_component 20 | * refactor(glog_component): prefix package and namespace with autoware (`#110 `_) 21 | * Contributors: Esteve Fernandez, Ryohsuke Mitsudome, SakodaShintaro 22 | 23 | 0.39.0 (2024-12-09) 24 | ------------------- 25 | * chore(common_sensor_launch): add distortion corrector parameter (`#105 `_) 26 | chore: add parameter 27 | * chore(nebula_node_container): make launchers work with Nebula v0.2.0 (`#106 `_) 28 | * feat(common_sensor_launch): ring outlier filter load from param file (`#103 `_) 29 | * feat: ring outlier filter load from param file 30 | * fix: fix variable name 31 | * chore: fix description 32 | --------- 33 | * feat: add robosense Bpearl and Helios Lidar launch files for users (`#102 `_) 34 | * refactor!: pointcloud_preprocessor prefix package and namespace with autoware (`#95 `_) 35 | * refactor!: pointcloud_preprocessor prefix package and namespace with autoware 36 | * style(pre-commit): autofix 37 | --------- 38 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 39 | * chore: remapped topics for the point type migration (`#94 `_) 40 | chore: remapped topics to match the temporary fix for the sensing point migration 41 | * feat(pointcloud_preprocessor): load_distortion_parameter_from_yaml (`#93 `_) 42 | * feat: load distortion parameter from yaml 43 | * chore: fix spell error 44 | * feat: modify the nebula_node_container based on tier4 internal common_sensor_launch 45 | * chore: use ParameterFile to load param 46 | --------- 47 | * fix(nebula node container): fix if condition for ring outlier filter (`#92 `_) 48 | fix nebula node container 49 | * feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds (`#91 `_) 50 | * feat: edn 51 | * fix: suppress spell-check 52 | * style(pre-commit): autofix 53 | * feat: interface change in sensing lidar pointcloud. use synchronized pointcloud as sensor interface 54 | --------- 55 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 56 | * feat: change pointcloud preprocess output from base_link to sensor_frame (`#90 `_) 57 | * feat: edn 58 | * fix: suppress spell-check 59 | * style(pre-commit): autofix 60 | --------- 61 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 62 | * chore(nebula_node_container): enhance logging (`#86 `_) 63 | * feat: always separate lidar preprocessing from pointcloud_container (`#85 `_) 64 | * feat!: replace use_pointcloud_container 65 | * style(pre-commit): autofix 66 | * fix: now works 67 | * revert: revert unnecessary change 68 | * include_concat_node_in_pointcloud_container to use_pointcloud_container 69 | * style(pre-commit): autofix 70 | * fix arg name 71 | --------- 72 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 73 | * refactor: rename lidar topic (`#82 `_) 74 | rename lidar topic 75 | Co-authored-by: yamato-ando 76 | * fix(nebula launch): remove loading of parameters from default config file (`#74 `_) 77 | * fix(nebula launch): remove loading of parameters from default configuration file 78 | * chore(nebula launch): remove orphaned directory variable 79 | * chore(nebula launch): remove unused import 80 | --------- 81 | * refactor(nebula launch): consistent naming for sensor_ip parameter (`#72 `_) 82 | * fix(nebula launch): rotation_speed type (`#71 `_) 83 | fix rotation_speed type 84 | * fix(common_sensor_launch): add nebula to package.xml (`#65 `_) 85 | * feat: change from velodyne_vls to nebula driver (`#64 `_) 86 | * feat: change from velodyne_vls to nebula driver 87 | * style(pre-commit): autofix 88 | --------- 89 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 90 | * chore: update maintainer (`#60 `_) 91 | * feat(sample_sensor_kit_launch): pass container to velodyne nodes (`#48 `_) 92 | * feat(sample_sensor_kit_launch): pass container to velodyne nodes 93 | * feat(sample_sensor_kit_launch): align true/false 94 | * feat(common_sensor_launch): change interpolate to distortion_corrector (`#41 `_) 95 | * feat(common_sensor_launch): change interpolate to distortion_corrector 96 | * Fix input topic 97 | * feat: load global parameter (`#31 `_) 98 | * ci(pre-commit): update pre-commit-hooks-ros (`#16 `_) 99 | * ci(pre-commit): update pre-commit-hooks-ros 100 | * ci(pre-commit): autofix 101 | * Update .pre-commit-config.yaml 102 | * Update .pre-commit-config.yaml 103 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 104 | * chore: clean up files (`#6 `_) 105 | * feat: add packages (`#3 `_) 106 | * release v0.4.0 107 | * Feature/phased timestamped velodyne (`#53 `_) 108 | * Replace with new velodyne driver, cutting scan based on azimuth 109 | * Fix launch/dependences 110 | * Fix version name for tier4/velodyne_vls 111 | * Add velodyne_driver dependency 112 | * Nodelet tlr (`#56 `_) 113 | * temporary commit tlr_nodelet 114 | * compressed to compressed 115 | * Update traffic_light.launch 116 | * fix bug 117 | * change image_transport to relay 118 | * fix bug 119 | * fix bug 120 | * decompress as rgb8 121 | * fix bug 122 | Co-authored-by: Yukihiro Saito 123 | * use env for livox id (`#58 `_) 124 | * Feature/optimize scan phase (`#59 `_) 125 | * Rename parameter name, sensor_phase -> scan_phase 126 | * Modify aip_xx1 scan_phase for better perception 127 | * Rename parameter name, sensor_phase -> scan_phase 128 | * Logging simulator (`#65 `_) 129 | * Add logging_simulator.launch 130 | * Don't load env when launch driver is false 131 | * removed ROS1 package 132 | * Revert "removed ROS1 package" 133 | This reverts commit 3122355145ddfc9cb7e7485e85d509d53f6836f0. 134 | * add COLCON_IGNORE file to all ROS1 packages 135 | * rename *.launch files to *.launch.xml 136 | * Port sensing_launch (`#14 `_) 137 | * [sensing_launch] Initial port without actually launching 138 | * [sensing_launch] default -> value, namespace, first nodelet porting 139 | * [sensing_launch] use usb_cam, eval -> var 140 | * [sensing_launch] Fix syntax errors in pointcloud_preprocessor.launch.py 141 | * [pointcloud-preprocessor] fix ground-filter component name 142 | * [pointcloud-preprocessor] Polish aip_s1/pointcloud_preprocessor.launch.py 143 | Only one error at runtime remains when testing on dev laptop due to pointclouds that need to be available for concatenation 144 | * [sensing_launch] ublox_gps refer to config file properly 145 | * (wip) velodyne_node_container before opaque 146 | * [sensing_launch] Port aip-s1 as far as possible 147 | * [sensing_launch] remove unused pointcloud_preprocessor_nodes.py 148 | * [sensing_launch] Manage to add ComposableNode conditionally 149 | * [sensing_launch] Update camera for s1, x1 150 | * [sensing_launch] Copy aip_s1/ content to aip_customized, aip_x1, aip_x2 151 | because they were identical before the porting 152 | * [sensing_launch] Port livox 153 | * [sensing_launch] Port aip_xx1 154 | * [sensing_launch] Port aip_xx2 155 | * [sensing_launch] Remove superfluous passthrough filter, min_z, max_z 156 | * [sensing_launch] Incorporate changes from vehicle testing 157 | * [sensing_launch] Declare launch argument for base_frame 158 | * [sensing_launch] Missing fixes to launch/velodyne* 159 | * [sensing_launch] Update copied configs 160 | * Added linters (`#32 `_) 161 | * Ros2 v0.8.0 sensing launch (`#57 `_) 162 | * restore file name 163 | * Update livox_horizon.launch (`#89 `_) 164 | * fix pass through filter launch (`#90 `_) 165 | * fix pass through filter launch 166 | * change if statement style 167 | * update aip_x1 sensing launch (`#100 `_) 168 | * fix livox launch arg (`#108 `_) 169 | * add usb_cam depend (`#118 `_) 170 | * update aip_x1 camera.launch (`#119 `_) 171 | * update imu.launch (`#120 `_) 172 | * fix veodyne setting in aip_x1/lidar.launch (`#125 `_) 173 | * Add velodyne_monitor to velodyne\_*.launch (`#101 `_) 174 | * Uupdate aip_x1 lidar.launch (`#143 `_) 175 | * Format gnss.launch (`#145 `_) 176 | * Add use_gnss arg to aip_x1 gnss.launch (`#146 `_) 177 | * support individual params (`#137 `_) 178 | * support individual params 179 | * remove kvaser_hardware_id.txt 180 | * Launch velodyne_monitor only when launch_driver is true (`#163 `_) 181 | * [sensing_launch] ros2 porting: use container for livox point preprocessor 182 | * [sensing_launch] ros2-porting: fix vehicle_info params 183 | * Revert "restore file name" 184 | This reverts commit 37d7ac4f6a2a617b003b4e2a5ac96c48b332ade0. 185 | * [sensing_launch] ros2-porting: fix vehicle_info for livox preprocessor launch 186 | * [sensing_launch] ros2-porting: fix vehicle_info for api\_** points_preprocessor.launch.py 187 | * fix launch 188 | * fix livox launch 189 | * added suffix ".xml" to "velodyne_monitor.launch" in the launch files 190 | * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py (`#61 `_) 191 | * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters 192 | * changed to use EnvironmentVariable function for use_sim_time parameter 193 | * changed indent 194 | * removed an empty line 195 | Co-authored-by: hosokawa 196 | * fixed typo on the arg bd_code_param_path lines (`#63 `_) 197 | Co-authored-by: hosokawa 198 | * [sensing_launch]: Fix indentation in gnss launch 199 | * [sensing_launch]: Add missing dependency in package.xml 200 | * [sensing_launch]: Fix velodyne launch 201 | * [sensing_launch]: Fix livox launch 202 | * [sensing_launch]: Add arg for vehicle parameter file in lidar launch 203 | * [sensing_launch]: Cleanup 204 | * Add new line 205 | * [sensing_launch]: Add default config for xx1 206 | * [sensing_launch]: Fix indentation 207 | Co-authored-by: Yukihiro Saito 208 | Co-authored-by: Taichi Higashide 209 | Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> 210 | Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> 211 | Co-authored-by: hosokawa 212 | Co-authored-by: HOSOKAWA Ikuto 213 | Co-authored-by: wep21 214 | Co-authored-by: Autoware 215 | * Rename ROS-related .yaml to .param.yaml (`#65 `_) 216 | * Rename ROS-related .yaml to .param.yaml 217 | * Add missing '--' 218 | * Rename vehicle_info.yaml to vehicle_info.param.yaml 219 | * Fix livox param name 220 | * Sync with Ros2 v0.8.0 beta (`#71 `_) 221 | * update sensing launch to support aip_x1 (`#69 `_) 222 | * fix logging_simulator_bug (`#68 `_) 223 | * fix aip_x1 param (`#70 `_) 224 | Co-authored-by: Taichi Higashide 225 | * Fix aip_xx1's pointcloud_preprocessor.launch.py (`#72 `_) 226 | * fix velodyne launch (`#73 `_) 227 | * fix velodyne launch 228 | * fix bug 229 | * add scan_phase arg 230 | * fix bug (`#85 `_) 231 | * Use sensor data qos for pointcloud (`#82 `_) 232 | Co-authored-by: Autoware 233 | * Remove unused remappings (`#88 `_) 234 | * Livox composable node (`#87 `_) 235 | * Fix default value of use_concat_filter and use_radius_search (`#90 `_) 236 | * Fix default value of use_concat_filter and use_radius_search 237 | * Fix lint 238 | * [aip_x1]: Fix imu topic name (`#94 `_) 239 | * Fix various typos in launch files (`#97 `_) 240 | * Move individual params to a separate package (`#100 `_) 241 | * Remove individual params (`#101 `_) 242 | * add use_sim-time option (`#99 `_) 243 | * Format launch files (`#178 `_) 244 | * Fix bug of pointcloud_preprocessor.py (`#179 `_) 245 | Co-authored-by: autoware 246 | * Replace doc by description (`#182 `_) 247 | * Ros2 lsim test (`#186 `_) 248 | * Add group to launch file for var scope 249 | * Remove pointcloud relay for localization 250 | * Add use_sim_time 251 | * Remove pointcloud relay for localization 252 | Co-authored-by: Takagi, Isamu 253 | * Add multithread and intra process option (`#187 `_) 254 | * Add multithread and intra process option 255 | * Fix velodyne node container executable 256 | * Add option into aip_xx2 257 | * Add option into aip_x2 258 | * Add option into aip_x1 259 | * Add option into aip_s1 260 | * Add option into aip_customized 261 | * Add option into lidar.launch.xml 262 | * Fix invalid attribute in gnss launch (`#191 `_) 263 | * Fix parameter for scan phase (`#193 `_) 264 | * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) (`#196 `_) 265 | * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) 266 | * rm arg(gnss_receiver) escalation and modify septentrio_gnss_driver_node option 267 | * change gnss_receiver default septentrio to ublox 268 | * remap all septentrio_gnss_driver topic names 269 | * replace septentrio gnss driver launch type 'node' to 'include' 270 | * Use set_parameter for use_sim_time (`#198 `_) 271 | * Use set_parameter for use_sim_time 272 | * Add default parameter for scenario simulator 273 | * Format launch files (`#228 `_) 274 | * Format launch files 275 | * Format launch.py 276 | * Fix lint 277 | * Fix aip_xx1 camera launch (`#242 `_) 278 | * Fix gnss topic name (`#243 `_) 279 | * Enable intra process and mt (`#204 `_) 280 | * add imu_corrector (`#296 `_) 281 | * add description for sensing_launch (`#336 `_) 282 | * add description 283 | * fix sentence 284 | * add README.md and svg files (`#328 `_) 285 | * add md and svg 286 | * fix typo 287 | * fix typo 288 | * fix word 289 | * fix typo 290 | * add lack of things 291 | * Update README 292 | * fix depending packages 293 | * fix word 294 | * Fix camera launch invalid type string (`#344 `_) 295 | * add view width direction to velodyne_node_container.launch.py etc... (`#366 `_) 296 | * add arg of view_width and view_direction 297 | * delete initial value 298 | * add args and params 299 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 300 | * Fix pre-commit (`#407 `_) 301 | * Fix pre-commit errors 302 | * Fix package.xml 303 | * Fix pre-commit target (`#436 `_) 304 | * Use scan ground filter for xx1 (`#313 `_) 305 | * Enable time series outlier filter (`#314 `_) 306 | * Fix param name in scan ground filter (`#357 `_) 307 | * Remove aip xx2 model from sensing launch (`#446 `_) 308 | * Add respawn for ublox (`#449 `_) 309 | * delete aip_customized 310 | * move to aip_launcher 311 | * delete namespace (`#5 `_) 312 | * fix revert dirname + delete unused arg (`#7 `_) 313 | * revert dirname 314 | * delete sensor_model 315 | * delete aip_s1 (`#8 `_) 316 | * Add pre-commit (`#10 `_) 317 | * Add pre-commit 318 | * Fix for pre-commit 319 | * Update version 320 | * Fix target 321 | * update README (`#9 `_) 322 | * update README temporary 323 | * Update 324 | * updateg 325 | * delete line number 326 | * re delete line number 327 | * fix for pre commit 328 | * fix for pre-commit 329 | * fix for pre commit 330 | * update README 331 | * update README 332 | * update README 333 | * Update README 334 | * update readme 335 | * use back quote 336 | * Sync with xx1 develop/ros2 (`#14 `_) 337 | * Fix velodyne launcher (`#15 `_) 338 | * Fix lidar launcher (`#16 `_) 339 | * Rollback XX1's pointcloud_preprocessor to main (`#18 `_) 340 | * Update aip_x1 launch files (`#25 `_) 341 | * Copy velodyne_node_container.launch.py to aip_x1_launch 342 | * Disable driving recorder (`#19 `_) 343 | * add use_driving_recorder param 344 | Co-authored-by: taichiH 345 | * X1: Change scan_phase 0 to 180 deg 346 | * X1: Add topic state monitor 347 | * Add Livox tag filter 348 | * Add Livox min_range_filter 349 | * change livox_horizon.launch to support livox_tag_filter composable node (`#62 `_) 350 | * remove unnecessary crop filter for aip_x1 (`#63 `_) 351 | * remove sensing-lidar-pointcloud relay 352 | * add livox concatenate 353 | * disable use_intra_process for vector_map_filter 354 | * change use_intra_process to true 355 | * [sac ground filter] change height threshold 0.12 -> 0.18 356 | * Update launch for multi topic livox mode (`#68 `_) 357 | Co-authored-by: Hiroaki ISHIKAWA 358 | Co-authored-by: taichiH 359 | * add westering sun extraction filter (`#76 `_) 360 | * fix bug (`#92 `_) 361 | * Fix concat timeout (`#91 `_) 362 | * add new livox driver launch file (`#94 `_) 363 | * fix frame_id (`#95 `_) 364 | * Feature/compare elevation map (`#100 `_) 365 | * Change livox crop range 14m->18m 366 | * Use executable for new_lidar_driver_launch (`#120 `_) 367 | * Change ransac height thresh (`#110 `_) (`#115 `_) 368 | * Add livox to diag name of topic_state_monitor (`#162 `_) 369 | * Change elevation value method and height thresh (`#163 `_) 370 | * change ground filter hight threshold (`#174 `_) (`#176 `_) 371 | Co-authored-by: Taichi Higashide 372 | * Copy velodyne_VLP16.launch.xml to aip_x1_launch 373 | * Change velodyne_node_container.launch.py reference in velodyne_VLP16.launch.xml 374 | Co-authored-by: Hiroki OTA 375 | Co-authored-by: taichiH 376 | Co-authored-by: Taichi Higashide 377 | Co-authored-by: tomoya.kimura 378 | Co-authored-by: Kosuke Takeuchi 379 | Co-authored-by: Hiroaki ISHIKAWA 380 | Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> 381 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 382 | * Add parameter file for diagnostic_aggregator to use in each product (`#13 `_) 383 | * add xx1 parameter 384 | * add x1 parameter 385 | * add x2 parameter 386 | * delete autoware_error_monitor 387 | * add sensor_kit.param for diagnostic_agg 388 | * update extra senser diag 389 | * Remove IMU from X2 390 | * Move to config directory 391 | Co-authored-by: Kenji Miyake 392 | * Revert "Rollback XX1's pointcloud_preprocessor to main (`#18 `_)" 393 | This reverts commit 4f9d0e8384526d0638a18856c16500cf8933690b. 394 | * Change formatter to black (`#38 `_) 395 | * Update pre-commit settings 396 | * Apply Black 397 | * Replace ament_lint_common with autoware_lint_common 398 | * Update build_depends.repos 399 | * Fix build_depends 400 | * Remove lidar_ros_driver from package.xml (`#39 `_) 401 | * remove unused pointcloud preprocessor components (`#2 `_) 402 | * feature/use common pointcloud container (`#8 `_) 403 | * add arg 404 | * improve readability 405 | * fix/remove passthrough filter (`#9 `_) 406 | * release v0.4.0 407 | * Add vls description (`#3 `_) 408 | * remove ROS1 packages 409 | * Revert "remove ROS1 packages" 410 | This reverts commit 7c1e0d930473170ada063f45c961dc40abd0357b. 411 | * add colcon_ignore 412 | * port to ROS2 413 | * add xacro namespace for VLP-16/128 tags 414 | * fix xacro:color value 415 | * Ros2 v0.8.0 update (`#7 `_) 416 | * [ROS2] pandar_description (`#9 `_) 417 | * Feature/add pandar (`#7 `_) 418 | * add decription for Hesai LiDAR 419 | * fix direction 420 | * update for ros2 421 | * fix config_dir (`#11 `_) 422 | * delete descriptions except for current reference 423 | * fix suffix to name (`#2 `_) 424 | * delete aip_s1 (`#3 `_) 425 | * Modify sensor config (`#4 `_) 426 | * Update x1 sensor config files 427 | * Update xx1 sensor config files 428 | * Update x2 sensor config files 429 | * Run pre-commit 430 | * Add prettier-xacro to pre-commit (`#6 `_) 431 | * Run pre-commit 432 | * Update README.md 433 | * Fix for pre-commit 434 | * Cosmetic change 435 | * Add _link 436 | * Fix missing link 437 | Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> 438 | Co-authored-by: Kenji Miyake 439 | * Fix tlr camera link name for xx1 (`#9 `_) 440 | * update README.md 441 | * fix build depends 442 | * fix files 443 | * apply pre-commit 444 | * fix package.xml 445 | * remove README for now 446 | Co-authored-by: mitsudome-r 447 | Co-authored-by: Akihito Ohsato 448 | Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> 449 | Co-authored-by: Yukihiro Saito 450 | Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> 451 | Co-authored-by: Esteve Fernandez 452 | Co-authored-by: Takamasa Horibe 453 | Co-authored-by: Taichi Higashide 454 | Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> 455 | Co-authored-by: hosokawa 456 | Co-authored-by: HOSOKAWA Ikuto 457 | Co-authored-by: wep21 458 | Co-authored-by: Autoware 459 | Co-authored-by: Kazuki Miyahara 460 | Co-authored-by: tkimura4 461 | Co-authored-by: autoware 462 | Co-authored-by: Takagi, Isamu 463 | Co-authored-by: hiro-ya-iv <30652835+hiro-ya-iv@users.noreply.github.com> 464 | Co-authored-by: YamatoAndo 465 | Co-authored-by: Hiroki OTA 466 | Co-authored-by: Kosuke Takeuchi 467 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 468 | Co-authored-by: taichiH 469 | Co-authored-by: Hiroaki ISHIKAWA 470 | Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> 471 | Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> 472 | Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> 473 | Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> 474 | * Contributors: Amadeusz Szymko, David Wong, Ismet Atabay, Kaan Çolak, Kenji Miyake, Kenzo Lobos Tsunekawa, Max Schmeller, Shunsuke Miura, Takeshi Miura, Yamato Ando, Yi-Hsiang Fang (Vivid), Yoshi Ri, Yukihiro Saito, kminoda 475 | -------------------------------------------------------------------------------- /common_sensor_launch/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(common_sensor_launch) 3 | 4 | find_package(ament_cmake_auto REQUIRED) 5 | ament_auto_find_build_dependencies() 6 | 7 | if(BUILD_TESTING) 8 | find_package(ament_lint_auto REQUIRED) 9 | ament_lint_auto_find_test_dependencies() 10 | endif() 11 | 12 | ament_auto_package(INSTALL_TO_SHARE 13 | launch 14 | config 15 | ) 16 | -------------------------------------------------------------------------------- /common_sensor_launch/config/distortion_corrector_node.param.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | base_frame: base_link 4 | use_imu: true 5 | use_3d_distortion_correction: false 6 | update_azimuth_and_distance: false 7 | -------------------------------------------------------------------------------- /common_sensor_launch/config/ring_outlier_filter_node.param.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | distance_ratio: 1.03 4 | object_length_threshold: 0.1 5 | num_points_threshold: 4 6 | max_rings_num: 128 7 | max_points_num_per_ring: 4000 8 | publish_outlier_pointcloud: false 9 | min_azimuth_deg: 0.0 10 | max_azimuth_deg: 360.0 11 | max_distance: 12.0 12 | vertical_bins: 128 13 | horizontal_bins: 36 14 | noise_threshold: 2 15 | -------------------------------------------------------------------------------- /common_sensor_launch/launch/nebula_node_container.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2023 Tier IV, Inc. All rights reserved. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | import os 16 | 17 | from ament_index_python.packages import get_package_share_directory 18 | import launch 19 | from launch.actions import DeclareLaunchArgument 20 | from launch.actions import OpaqueFunction 21 | from launch.actions import SetLaunchConfiguration 22 | from launch.conditions import IfCondition 23 | from launch.conditions import UnlessCondition 24 | from launch.substitutions import LaunchConfiguration 25 | from launch_ros.actions import ComposableNodeContainer 26 | from launch_ros.descriptions import ComposableNode 27 | from launch_ros.parameter_descriptions import ParameterFile 28 | import yaml 29 | 30 | 31 | def get_lidar_make(sensor_name): 32 | if sensor_name[:6].lower() == "pandar": 33 | return "Hesai", ".csv" 34 | elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]: 35 | return "Velodyne", ".yaml" 36 | elif sensor_name.lower() in ["helios", "bpearl"]: 37 | return "Robosense", None 38 | return "unrecognized_sensor_model" 39 | 40 | 41 | def get_vehicle_info(context): 42 | # TODO(TIER IV): Use Parameter Substitution after we drop Galactic support 43 | # https://github.com/ros2/launch_ros/blob/master/launch_ros/launch_ros/substitutions/parameter.py 44 | gp = context.launch_configurations.get("ros_params", {}) 45 | if not gp: 46 | gp = dict(context.launch_configurations.get("global_params", {})) 47 | p = {} 48 | p["vehicle_length"] = gp["front_overhang"] + gp["wheel_base"] + gp["rear_overhang"] 49 | p["vehicle_width"] = gp["wheel_tread"] + gp["left_overhang"] + gp["right_overhang"] 50 | p["min_longitudinal_offset"] = -gp["rear_overhang"] 51 | p["max_longitudinal_offset"] = gp["front_overhang"] + gp["wheel_base"] 52 | p["min_lateral_offset"] = -(gp["wheel_tread"] / 2.0 + gp["right_overhang"]) 53 | p["max_lateral_offset"] = gp["wheel_tread"] / 2.0 + gp["left_overhang"] 54 | p["min_height_offset"] = 0.0 55 | p["max_height_offset"] = gp["vehicle_height"] 56 | return p 57 | 58 | 59 | def get_vehicle_mirror_info(context): 60 | path = LaunchConfiguration("vehicle_mirror_param_file").perform(context) 61 | with open(path, "r") as f: 62 | p = yaml.safe_load(f)["/**"]["ros__parameters"] 63 | return p 64 | 65 | 66 | def launch_setup(context, *args, **kwargs): 67 | def create_parameter_dict(*args): 68 | result = {} 69 | for x in args: 70 | result[x] = LaunchConfiguration(x) 71 | return result 72 | 73 | # Model and make 74 | sensor_model = LaunchConfiguration("sensor_model").perform(context) 75 | sensor_make, sensor_extension = get_lidar_make(sensor_model) 76 | nebula_decoders_share_dir = get_package_share_directory("nebula_decoders") 77 | 78 | # Calibration file 79 | if sensor_extension is not None: # Velodyne and Hesai 80 | sensor_calib_fp = os.path.join( 81 | nebula_decoders_share_dir, 82 | "calibration", 83 | sensor_make.lower(), 84 | sensor_model + sensor_extension, 85 | ) 86 | assert os.path.exists( 87 | sensor_calib_fp 88 | ), "Sensor calib file under calibration/ was not found: {}".format(sensor_calib_fp) 89 | else: # Robosense 90 | sensor_calib_fp = "" 91 | 92 | # Pointcloud preprocessor parameters 93 | distortion_corrector_node_param = ParameterFile( 94 | param_file=LaunchConfiguration("distortion_correction_node_param_path").perform(context), 95 | allow_substs=True, 96 | ) 97 | ring_outlier_filter_node_param = ParameterFile( 98 | param_file=LaunchConfiguration("ring_outlier_filter_node_param_path").perform(context), 99 | allow_substs=True, 100 | ) 101 | 102 | nodes = [] 103 | 104 | nodes.append( 105 | ComposableNode( 106 | package="autoware_glog_component", 107 | plugin="autoware::glog_component::GlogComponent", 108 | name="glog_component", 109 | ) 110 | ) 111 | 112 | nodes.append( 113 | ComposableNode( 114 | package="nebula_ros", 115 | plugin=sensor_make + "RosWrapper", 116 | name=sensor_make.lower() + "_ros_wrapper_node", 117 | parameters=[ 118 | { 119 | "calibration_file": sensor_calib_fp, 120 | "sensor_model": sensor_model, 121 | "launch_hw": LaunchConfiguration("launch_driver"), 122 | **create_parameter_dict( 123 | "host_ip", 124 | "sensor_ip", 125 | "data_port", 126 | "gnss_port", 127 | "return_mode", 128 | "min_range", 129 | "max_range", 130 | "frame_id", 131 | "scan_phase", 132 | "cloud_min_angle", 133 | "cloud_max_angle", 134 | "dual_return_distance_threshold", 135 | "rotation_speed", 136 | "packet_mtu_size", 137 | "setup_sensor", 138 | "udp_only", 139 | ), 140 | }, 141 | ], 142 | remappings=[ 143 | # cSpell:ignore knzo25 144 | # TODO(knzo25): fix the remapping once nebula gets updated 145 | ("velodyne_points", "pointcloud_raw_ex"), 146 | # ("robosense_points", "pointcloud_raw_ex"), #for robosense 147 | # ("pandar_points", "pointcloud_raw_ex"), # for hesai 148 | ], 149 | extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], 150 | ) 151 | ) 152 | 153 | cropbox_parameters = create_parameter_dict("input_frame", "output_frame") 154 | cropbox_parameters["negative"] = True 155 | 156 | vehicle_info = get_vehicle_info(context) 157 | cropbox_parameters["min_x"] = vehicle_info["min_longitudinal_offset"] 158 | cropbox_parameters["max_x"] = vehicle_info["max_longitudinal_offset"] 159 | cropbox_parameters["min_y"] = vehicle_info["min_lateral_offset"] 160 | cropbox_parameters["max_y"] = vehicle_info["max_lateral_offset"] 161 | cropbox_parameters["min_z"] = vehicle_info["min_height_offset"] 162 | cropbox_parameters["max_z"] = vehicle_info["max_height_offset"] 163 | 164 | nodes.append( 165 | ComposableNode( 166 | package="autoware_pointcloud_preprocessor", 167 | plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", 168 | name="crop_box_filter_self", 169 | remappings=[ 170 | ("input", "pointcloud_raw_ex"), 171 | ("output", "self_cropped/pointcloud_ex"), 172 | ], 173 | parameters=[cropbox_parameters], 174 | extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], 175 | ) 176 | ) 177 | 178 | mirror_info = get_vehicle_mirror_info(context) 179 | cropbox_parameters["min_x"] = mirror_info["min_longitudinal_offset"] 180 | cropbox_parameters["max_x"] = mirror_info["max_longitudinal_offset"] 181 | cropbox_parameters["min_y"] = mirror_info["min_lateral_offset"] 182 | cropbox_parameters["max_y"] = mirror_info["max_lateral_offset"] 183 | cropbox_parameters["min_z"] = mirror_info["min_height_offset"] 184 | cropbox_parameters["max_z"] = mirror_info["max_height_offset"] 185 | 186 | nodes.append( 187 | ComposableNode( 188 | package="autoware_pointcloud_preprocessor", 189 | plugin="autoware::pointcloud_preprocessor::CropBoxFilterComponent", 190 | name="crop_box_filter_mirror", 191 | remappings=[ 192 | ("input", "self_cropped/pointcloud_ex"), 193 | ("output", "mirror_cropped/pointcloud_ex"), 194 | ], 195 | parameters=[cropbox_parameters], 196 | extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], 197 | ) 198 | ) 199 | 200 | nodes.append( 201 | ComposableNode( 202 | package="autoware_pointcloud_preprocessor", 203 | plugin="autoware::pointcloud_preprocessor::DistortionCorrectorComponent", 204 | name="distortion_corrector_node", 205 | remappings=[ 206 | ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), 207 | ("~/input/imu", "/sensing/imu/imu_data"), 208 | ("~/input/pointcloud", "mirror_cropped/pointcloud_ex"), 209 | ("~/output/pointcloud", "rectified/pointcloud_ex"), 210 | ], 211 | parameters=[distortion_corrector_node_param], 212 | extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], 213 | ) 214 | ) 215 | 216 | # Ring Outlier Filter is the last component in the pipeline, so control the output frame here 217 | if LaunchConfiguration("output_as_sensor_frame").perform(context).lower() == "true": 218 | ring_outlier_output_frame = {"output_frame": LaunchConfiguration("frame_id")} 219 | else: 220 | ring_outlier_output_frame = {"output_frame": ""} # keep the output frame as the input frame 221 | nodes.append( 222 | ComposableNode( 223 | package="autoware_pointcloud_preprocessor", 224 | plugin="autoware::pointcloud_preprocessor::RingOutlierFilterComponent", 225 | name="ring_outlier_filter", 226 | remappings=[ 227 | ("input", "rectified/pointcloud_ex"), 228 | ("output", "pointcloud_before_sync"), 229 | ], 230 | parameters=[ring_outlier_filter_node_param, ring_outlier_output_frame], 231 | extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], 232 | ) 233 | ) 234 | 235 | # set container to run all required components in the same process 236 | container = ComposableNodeContainer( 237 | name=LaunchConfiguration("container_name"), 238 | namespace="pointcloud_preprocessor", 239 | package="rclcpp_components", 240 | executable=LaunchConfiguration("container_executable"), 241 | composable_node_descriptions=nodes, 242 | output="both", 243 | ) 244 | 245 | return [container] 246 | 247 | 248 | def generate_launch_description(): 249 | launch_arguments = [] 250 | 251 | def add_launch_arg(name: str, default_value=None, description=None): 252 | # a default_value of None is equivalent to not passing that kwarg at all 253 | launch_arguments.append( 254 | DeclareLaunchArgument(name, default_value=default_value, description=description) 255 | ) 256 | 257 | common_sensor_share_dir = get_package_share_directory("common_sensor_launch") 258 | 259 | add_launch_arg("sensor_model", description="sensor model name") 260 | add_launch_arg("config_file", "", description="sensor configuration file") 261 | add_launch_arg("launch_driver", "True", "do launch driver") 262 | add_launch_arg("setup_sensor", "True", "configure sensor") 263 | add_launch_arg("sensor_ip", "192.168.1.201", "device ip address") 264 | add_launch_arg("host_ip", "255.255.255.255", "host ip address") 265 | add_launch_arg("scan_phase", "0.0") 266 | add_launch_arg("base_frame", "base_link", "base frame id") 267 | add_launch_arg("min_range", "0.3", "minimum view range for Velodyne sensors") 268 | add_launch_arg("max_range", "300.0", "maximum view range for Velodyne sensors") 269 | add_launch_arg("cloud_min_angle", "0", "minimum view angle setting on device") 270 | add_launch_arg("cloud_max_angle", "360", "maximum view angle setting on device") 271 | add_launch_arg("data_port", "2368", "device data port number") 272 | add_launch_arg("gnss_port", "2380", "device gnss port number") 273 | add_launch_arg("packet_mtu_size", "1500", "packet mtu size") 274 | add_launch_arg("rotation_speed", "600", "rotational frequency") 275 | add_launch_arg("dual_return_distance_threshold", "0.1", "dual return distance threshold") 276 | add_launch_arg("frame_id", "lidar", "frame id") 277 | add_launch_arg("input_frame", LaunchConfiguration("base_frame"), "use for cropbox") 278 | add_launch_arg("output_frame", LaunchConfiguration("base_frame"), "use for cropbox") 279 | add_launch_arg("use_multithread", "False", "use multithread") 280 | add_launch_arg("use_intra_process", "False", "use ROS 2 component container communication") 281 | add_launch_arg("lidar_container_name", "nebula_node_container") 282 | add_launch_arg("output_as_sensor_frame", "True", "output final pointcloud in sensor frame") 283 | add_launch_arg( 284 | "vehicle_mirror_param_file", description="path to the file of vehicle mirror position yaml" 285 | ) 286 | add_launch_arg( 287 | "distortion_correction_node_param_path", 288 | os.path.join( 289 | common_sensor_share_dir, 290 | "config", 291 | "distortion_corrector_node.param.yaml", 292 | ), 293 | description="path to parameter file of distortion correction node", 294 | ) 295 | add_launch_arg( 296 | "ring_outlier_filter_node_param_path", 297 | os.path.join( 298 | common_sensor_share_dir, 299 | "config", 300 | "ring_outlier_filter_node.param.yaml", 301 | ), 302 | description="path to parameter file of ring outlier filter node", 303 | ) 304 | add_launch_arg("udp_only", "False", "use UDP only") 305 | 306 | set_container_executable = SetLaunchConfiguration( 307 | "container_executable", 308 | "component_container", 309 | condition=UnlessCondition(LaunchConfiguration("use_multithread")), 310 | ) 311 | 312 | set_container_mt_executable = SetLaunchConfiguration( 313 | "container_executable", 314 | "component_container_mt", 315 | condition=IfCondition(LaunchConfiguration("use_multithread")), 316 | ) 317 | 318 | return launch.LaunchDescription( 319 | launch_arguments 320 | + [set_container_executable, set_container_mt_executable] 321 | + [OpaqueFunction(function=launch_setup)] 322 | ) 323 | -------------------------------------------------------------------------------- /common_sensor_launch/launch/robosense_Bpearl.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /common_sensor_launch/launch/robosense_Helios.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | -------------------------------------------------------------------------------- /common_sensor_launch/launch/velodyne_VLP16.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /common_sensor_launch/launch/velodyne_VLS128.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | -------------------------------------------------------------------------------- /common_sensor_launch/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | common_sensor_launch 5 | 0.42.0 6 | The common_sensor_launch package 7 | Ryohsuke Mitsudome 8 | Yukihiro Saito 9 | Apache License 2.0 10 | 11 | ament_cmake_auto 12 | 13 | autoware_velodyne_monitor 14 | nebula_sensor_driver 15 | 16 | ament_lint_auto 17 | autoware_lint_common 18 | 19 | 20 | ament_cmake 21 | 22 | 23 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package sample_sensor_kit_description 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.42.0 (2025-03-28) 6 | ------------------- 7 | 8 | 0.41.0 (2025-02-12) 9 | ------------------- 10 | 11 | 0.40.0 (2025-01-17) 12 | ------------------- 13 | 14 | 0.39.0 (2024-12-09) 15 | ------------------- 16 | * chore: update maintainer (`#60 `_) 17 | * fix: suppress xacro warning (`#51 `_) 18 | * ci(pre-commit): update pre-commit-hooks-ros (`#16 `_) 19 | * ci(pre-commit): update pre-commit-hooks-ros 20 | * ci(pre-commit): autofix 21 | * Update .pre-commit-config.yaml 22 | * Update .pre-commit-config.yaml 23 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 24 | * chore: clean up files (`#6 `_) 25 | * feat: add packages (`#3 `_) 26 | * release v0.4.0 27 | * Feature/phased timestamped velodyne (`#53 `_) 28 | * Replace with new velodyne driver, cutting scan based on azimuth 29 | * Fix launch/dependences 30 | * Fix version name for tier4/velodyne_vls 31 | * Add velodyne_driver dependency 32 | * Nodelet tlr (`#56 `_) 33 | * temporary commit tlr_nodelet 34 | * compressed to compressed 35 | * Update traffic_light.launch 36 | * fix bug 37 | * change image_transport to relay 38 | * fix bug 39 | * fix bug 40 | * decompress as rgb8 41 | * fix bug 42 | Co-authored-by: Yukihiro Saito 43 | * use env for livox id (`#58 `_) 44 | * Feature/optimize scan phase (`#59 `_) 45 | * Rename parameter name, sensor_phase -> scan_phase 46 | * Modify aip_xx1 scan_phase for better perception 47 | * Rename parameter name, sensor_phase -> scan_phase 48 | * Logging simulator (`#65 `_) 49 | * Add logging_simulator.launch 50 | * Don't load env when launch driver is false 51 | * removed ROS1 package 52 | * Revert "removed ROS1 package" 53 | This reverts commit 3122355145ddfc9cb7e7485e85d509d53f6836f0. 54 | * add COLCON_IGNORE file to all ROS1 packages 55 | * rename *.launch files to *.launch.xml 56 | * Port sensing_launch (`#14 `_) 57 | * [sensing_launch] Initial port without actually launching 58 | * [sensing_launch] default -> value, namespace, first nodelet porting 59 | * [sensing_launch] use usb_cam, eval -> var 60 | * [sensing_launch] Fix syntax errors in pointcloud_preprocessor.launch.py 61 | * [pointcloud-preprocessor] fix ground-filter component name 62 | * [pointcloud-preprocessor] Polish aip_s1/pointcloud_preprocessor.launch.py 63 | Only one error at runtime remains when testing on dev laptop due to pointclouds that need to be available for concatenation 64 | * [sensing_launch] ublox_gps refer to config file properly 65 | * (wip) velodyne_node_container before opaque 66 | * [sensing_launch] Port aip-s1 as far as possible 67 | * [sensing_launch] remove unused pointcloud_preprocessor_nodes.py 68 | * [sensing_launch] Manage to add ComposableNode conditionally 69 | * [sensing_launch] Update camera for s1, x1 70 | * [sensing_launch] Copy aip_s1/ content to aip_customized, aip_x1, aip_x2 71 | because they were identical before the porting 72 | * [sensing_launch] Port livox 73 | * [sensing_launch] Port aip_xx1 74 | * [sensing_launch] Port aip_xx2 75 | * [sensing_launch] Remove superfluous passthrough filter, min_z, max_z 76 | * [sensing_launch] Incorporate changes from vehicle testing 77 | * [sensing_launch] Declare launch argument for base_frame 78 | * [sensing_launch] Missing fixes to launch/velodyne* 79 | * [sensing_launch] Update copied configs 80 | * Added linters (`#32 `_) 81 | * Ros2 v0.8.0 sensing launch (`#57 `_) 82 | * restore file name 83 | * Update livox_horizon.launch (`#89 `_) 84 | * fix pass through filter launch (`#90 `_) 85 | * fix pass through filter launch 86 | * change if statement style 87 | * update aip_x1 sensing launch (`#100 `_) 88 | * fix livox launch arg (`#108 `_) 89 | * add usb_cam depend (`#118 `_) 90 | * update aip_x1 camera.launch (`#119 `_) 91 | * update imu.launch (`#120 `_) 92 | * fix veodyne setting in aip_x1/lidar.launch (`#125 `_) 93 | * Add velodyne_monitor to velodyne\_*.launch (`#101 `_) 94 | * Uupdate aip_x1 lidar.launch (`#143 `_) 95 | * Format gnss.launch (`#145 `_) 96 | * Add use_gnss arg to aip_x1 gnss.launch (`#146 `_) 97 | * support individual params (`#137 `_) 98 | * support individual params 99 | * remove kvaser_hardware_id.txt 100 | * Launch velodyne_monitor only when launch_driver is true (`#163 `_) 101 | * [sensing_launch] ros2 porting: use container for livox point preprocessor 102 | * [sensing_launch] ros2-porting: fix vehicle_info params 103 | * Revert "restore file name" 104 | This reverts commit 37d7ac4f6a2a617b003b4e2a5ac96c48b332ade0. 105 | * [sensing_launch] ros2-porting: fix vehicle_info for livox preprocessor launch 106 | * [sensing_launch] ros2-porting: fix vehicle_info for api\_** points_preprocessor.launch.py 107 | * fix launch 108 | * fix livox launch 109 | * added suffix ".xml" to "velodyne_monitor.launch" in the launch files 110 | * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py (`#61 `_) 111 | * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters 112 | * changed to use EnvironmentVariable function for use_sim_time parameter 113 | * changed indent 114 | * removed an empty line 115 | Co-authored-by: hosokawa 116 | * fixed typo on the arg bd_code_param_path lines (`#63 `_) 117 | Co-authored-by: hosokawa 118 | * [sensing_launch]: Fix indentation in gnss launch 119 | * [sensing_launch]: Add missing dependency in package.xml 120 | * [sensing_launch]: Fix velodyne launch 121 | * [sensing_launch]: Fix livox launch 122 | * [sensing_launch]: Add arg for vehicle parameter file in lidar launch 123 | * [sensing_launch]: Cleanup 124 | * Add new line 125 | * [sensing_launch]: Add default config for xx1 126 | * [sensing_launch]: Fix indentation 127 | Co-authored-by: Yukihiro Saito 128 | Co-authored-by: Taichi Higashide 129 | Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> 130 | Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> 131 | Co-authored-by: hosokawa 132 | Co-authored-by: HOSOKAWA Ikuto 133 | Co-authored-by: wep21 134 | Co-authored-by: Autoware 135 | * Rename ROS-related .yaml to .param.yaml (`#65 `_) 136 | * Rename ROS-related .yaml to .param.yaml 137 | * Add missing '--' 138 | * Rename vehicle_info.yaml to vehicle_info.param.yaml 139 | * Fix livox param name 140 | * Sync with Ros2 v0.8.0 beta (`#71 `_) 141 | * update sensing launch to support aip_x1 (`#69 `_) 142 | * fix logging_simulator_bug (`#68 `_) 143 | * fix aip_x1 param (`#70 `_) 144 | Co-authored-by: Taichi Higashide 145 | * Fix aip_xx1's pointcloud_preprocessor.launch.py (`#72 `_) 146 | * fix velodyne launch (`#73 `_) 147 | * fix velodyne launch 148 | * fix bug 149 | * add scan_phase arg 150 | * fix bug (`#85 `_) 151 | * Use sensor data qos for pointcloud (`#82 `_) 152 | Co-authored-by: Autoware 153 | * Remove unused remappings (`#88 `_) 154 | * Livox composable node (`#87 `_) 155 | * Fix default value of use_concat_filter and use_radius_search (`#90 `_) 156 | * Fix default value of use_concat_filter and use_radius_search 157 | * Fix lint 158 | * [aip_x1]: Fix imu topic name (`#94 `_) 159 | * Fix various typos in launch files (`#97 `_) 160 | * Move individual params to a separate package (`#100 `_) 161 | * Remove individual params (`#101 `_) 162 | * add use_sim-time option (`#99 `_) 163 | * Format launch files (`#178 `_) 164 | * Fix bug of pointcloud_preprocessor.py (`#179 `_) 165 | Co-authored-by: autoware 166 | * Replace doc by description (`#182 `_) 167 | * Ros2 lsim test (`#186 `_) 168 | * Add group to launch file for var scope 169 | * Remove pointcloud relay for localization 170 | * Add use_sim_time 171 | * Remove pointcloud relay for localization 172 | Co-authored-by: Takagi, Isamu 173 | * Add multithread and intra process option (`#187 `_) 174 | * Add multithread and intra process option 175 | * Fix velodyne node container executable 176 | * Add option into aip_xx2 177 | * Add option into aip_x2 178 | * Add option into aip_x1 179 | * Add option into aip_s1 180 | * Add option into aip_customized 181 | * Add option into lidar.launch.xml 182 | * Fix invalid attribute in gnss launch (`#191 `_) 183 | * Fix parameter for scan phase (`#193 `_) 184 | * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) (`#196 `_) 185 | * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) 186 | * rm arg(gnss_receiver) escalation and modify septentrio_gnss_driver_node option 187 | * change gnss_receiver default septentrio to ublox 188 | * remap all septentrio_gnss_driver topic names 189 | * replace septentrio gnss driver launch type 'node' to 'include' 190 | * Use set_parameter for use_sim_time (`#198 `_) 191 | * Use set_parameter for use_sim_time 192 | * Add default parameter for scenario simulator 193 | * Format launch files (`#228 `_) 194 | * Format launch files 195 | * Format launch.py 196 | * Fix lint 197 | * Fix aip_xx1 camera launch (`#242 `_) 198 | * Fix gnss topic name (`#243 `_) 199 | * Enable intra process and mt (`#204 `_) 200 | * add imu_corrector (`#296 `_) 201 | * add description for sensing_launch (`#336 `_) 202 | * add description 203 | * fix sentence 204 | * add README.md and svg files (`#328 `_) 205 | * add md and svg 206 | * fix typo 207 | * fix typo 208 | * fix word 209 | * fix typo 210 | * add lack of things 211 | * Update README 212 | * fix depending packages 213 | * fix word 214 | * Fix camera launch invalid type string (`#344 `_) 215 | * add view width direction to velodyne_node_container.launch.py etc... (`#366 `_) 216 | * add arg of view_width and view_direction 217 | * delete initial value 218 | * add args and params 219 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 220 | * Fix pre-commit (`#407 `_) 221 | * Fix pre-commit errors 222 | * Fix package.xml 223 | * Fix pre-commit target (`#436 `_) 224 | * Use scan ground filter for xx1 (`#313 `_) 225 | * Enable time series outlier filter (`#314 `_) 226 | * Fix param name in scan ground filter (`#357 `_) 227 | * Remove aip xx2 model from sensing launch (`#446 `_) 228 | * Add respawn for ublox (`#449 `_) 229 | * delete aip_customized 230 | * move to aip_launcher 231 | * delete namespace (`#5 `_) 232 | * fix revert dirname + delete unused arg (`#7 `_) 233 | * revert dirname 234 | * delete sensor_model 235 | * delete aip_s1 (`#8 `_) 236 | * Add pre-commit (`#10 `_) 237 | * Add pre-commit 238 | * Fix for pre-commit 239 | * Update version 240 | * Fix target 241 | * update README (`#9 `_) 242 | * update README temporary 243 | * Update 244 | * updateg 245 | * delete line number 246 | * re delete line number 247 | * fix for pre commit 248 | * fix for pre-commit 249 | * fix for pre commit 250 | * update README 251 | * update README 252 | * update README 253 | * Update README 254 | * update readme 255 | * use back quote 256 | * Sync with xx1 develop/ros2 (`#14 `_) 257 | * Fix velodyne launcher (`#15 `_) 258 | * Fix lidar launcher (`#16 `_) 259 | * Rollback XX1's pointcloud_preprocessor to main (`#18 `_) 260 | * Update aip_x1 launch files (`#25 `_) 261 | * Copy velodyne_node_container.launch.py to aip_x1_launch 262 | * Disable driving recorder (`#19 `_) 263 | * add use_driving_recorder param 264 | Co-authored-by: taichiH 265 | * X1: Change scan_phase 0 to 180 deg 266 | * X1: Add topic state monitor 267 | * Add Livox tag filter 268 | * Add Livox min_range_filter 269 | * change livox_horizon.launch to support livox_tag_filter composable node (`#62 `_) 270 | * remove unnecessary crop filter for aip_x1 (`#63 `_) 271 | * remove sensing-lidar-pointcloud relay 272 | * add livox concatenate 273 | * disable use_intra_process for vector_map_filter 274 | * change use_intra_process to true 275 | * [sac ground filter] change height threshold 0.12 -> 0.18 276 | * Update launch for multi topic livox mode (`#68 `_) 277 | Co-authored-by: Hiroaki ISHIKAWA 278 | Co-authored-by: taichiH 279 | * add westering sun extraction filter (`#76 `_) 280 | * fix bug (`#92 `_) 281 | * Fix concat timeout (`#91 `_) 282 | * add new livox driver launch file (`#94 `_) 283 | * fix frame_id (`#95 `_) 284 | * Feature/compare elevation map (`#100 `_) 285 | * Change livox crop range 14m->18m 286 | * Use executable for new_lidar_driver_launch (`#120 `_) 287 | * Change ransac height thresh (`#110 `_) (`#115 `_) 288 | * Add livox to diag name of topic_state_monitor (`#162 `_) 289 | * Change elevation value method and height thresh (`#163 `_) 290 | * change ground filter hight threshold (`#174 `_) (`#176 `_) 291 | Co-authored-by: Taichi Higashide 292 | * Copy velodyne_VLP16.launch.xml to aip_x1_launch 293 | * Change velodyne_node_container.launch.py reference in velodyne_VLP16.launch.xml 294 | Co-authored-by: Hiroki OTA 295 | Co-authored-by: taichiH 296 | Co-authored-by: Taichi Higashide 297 | Co-authored-by: tomoya.kimura 298 | Co-authored-by: Kosuke Takeuchi 299 | Co-authored-by: Hiroaki ISHIKAWA 300 | Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> 301 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 302 | * Add parameter file for diagnostic_aggregator to use in each product (`#13 `_) 303 | * add xx1 parameter 304 | * add x1 parameter 305 | * add x2 parameter 306 | * delete autoware_error_monitor 307 | * add sensor_kit.param for diagnostic_agg 308 | * update extra senser diag 309 | * Remove IMU from X2 310 | * Move to config directory 311 | Co-authored-by: Kenji Miyake 312 | * Revert "Rollback XX1's pointcloud_preprocessor to main (`#18 `_)" 313 | This reverts commit 4f9d0e8384526d0638a18856c16500cf8933690b. 314 | * Change formatter to black (`#38 `_) 315 | * Update pre-commit settings 316 | * Apply Black 317 | * Replace ament_lint_common with autoware_lint_common 318 | * Update build_depends.repos 319 | * Fix build_depends 320 | * Remove lidar_ros_driver from package.xml (`#39 `_) 321 | * remove unused pointcloud preprocessor components (`#2 `_) 322 | * feature/use common pointcloud container (`#8 `_) 323 | * add arg 324 | * improve readability 325 | * fix/remove passthrough filter (`#9 `_) 326 | * release v0.4.0 327 | * Add vls description (`#3 `_) 328 | * remove ROS1 packages 329 | * Revert "remove ROS1 packages" 330 | This reverts commit 7c1e0d930473170ada063f45c961dc40abd0357b. 331 | * add colcon_ignore 332 | * port to ROS2 333 | * add xacro namespace for VLP-16/128 tags 334 | * fix xacro:color value 335 | * Ros2 v0.8.0 update (`#7 `_) 336 | * [ROS2] pandar_description (`#9 `_) 337 | * Feature/add pandar (`#7 `_) 338 | * add decription for Hesai LiDAR 339 | * fix direction 340 | * update for ros2 341 | * fix config_dir (`#11 `_) 342 | * delete descriptions except for current reference 343 | * fix suffix to name (`#2 `_) 344 | * delete aip_s1 (`#3 `_) 345 | * Modify sensor config (`#4 `_) 346 | * Update x1 sensor config files 347 | * Update xx1 sensor config files 348 | * Update x2 sensor config files 349 | * Run pre-commit 350 | * Add prettier-xacro to pre-commit (`#6 `_) 351 | * Run pre-commit 352 | * Update README.md 353 | * Fix for pre-commit 354 | * Cosmetic change 355 | * Add _link 356 | * Fix missing link 357 | Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> 358 | Co-authored-by: Kenji Miyake 359 | * Fix tlr camera link name for xx1 (`#9 `_) 360 | * update README.md 361 | * fix build depends 362 | * fix files 363 | * apply pre-commit 364 | * fix package.xml 365 | * remove README for now 366 | Co-authored-by: mitsudome-r 367 | Co-authored-by: Akihito Ohsato 368 | Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> 369 | Co-authored-by: Yukihiro Saito 370 | Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> 371 | Co-authored-by: Esteve Fernandez 372 | Co-authored-by: Takamasa Horibe 373 | Co-authored-by: Taichi Higashide 374 | Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> 375 | Co-authored-by: hosokawa 376 | Co-authored-by: HOSOKAWA Ikuto 377 | Co-authored-by: wep21 378 | Co-authored-by: Autoware 379 | Co-authored-by: Kazuki Miyahara 380 | Co-authored-by: tkimura4 381 | Co-authored-by: autoware 382 | Co-authored-by: Takagi, Isamu 383 | Co-authored-by: hiro-ya-iv <30652835+hiro-ya-iv@users.noreply.github.com> 384 | Co-authored-by: YamatoAndo 385 | Co-authored-by: Hiroki OTA 386 | Co-authored-by: Kosuke Takeuchi 387 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 388 | Co-authored-by: taichiH 389 | Co-authored-by: Hiroaki ISHIKAWA 390 | Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> 391 | Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> 392 | Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> 393 | Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> 394 | * Contributors: Daisuke Nishimatsu, Kenji Miyake 395 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(sample_sensor_kit_description) 3 | 4 | find_package(ament_cmake_auto REQUIRED) 5 | 6 | ament_auto_find_build_dependencies() 7 | 8 | ament_auto_package(INSTALL_TO_SHARE 9 | urdf 10 | config 11 | ) 12 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/config/sensor_kit_calibration.yaml: -------------------------------------------------------------------------------- 1 | sensor_kit_base_link: 2 | camera0/camera_link: 3 | x: 0.10731 4 | y: 0.56343 5 | z: -0.27697 6 | roll: -0.025 7 | pitch: 0.315 8 | yaw: 1.035 9 | camera1/camera_link: 10 | x: -0.10731 11 | y: -0.56343 12 | z: -0.27697 13 | roll: -0.025 14 | pitch: 0.32 15 | yaw: -2.12 16 | camera2/camera_link: 17 | x: 0.10731 18 | y: -0.56343 19 | z: -0.27697 20 | roll: -0.00 21 | pitch: 0.335 22 | yaw: -1.04 23 | camera3/camera_link: 24 | x: -0.10731 25 | y: 0.56343 26 | z: -0.27697 27 | roll: 0.0 28 | pitch: 0.325 29 | yaw: 2.0943951 30 | camera4/camera_link: 31 | x: 0.07356 32 | y: 0.0 33 | z: -0.0525 34 | roll: 0.0 35 | pitch: -0.03 36 | yaw: -0.005 37 | camera5/camera_link: 38 | x: -0.07356 39 | y: 0.0 40 | z: -0.0525 41 | roll: 0.0 42 | pitch: -0.01 43 | yaw: 3.125 44 | traffic_light_right_camera/camera_link: 45 | x: 0.05 46 | y: -0.0175 47 | z: -0.1 48 | roll: 0.0 49 | pitch: 0.0 50 | yaw: 0.0 51 | traffic_light_left_camera/camera_link: 52 | x: 0.05 53 | y: 0.0175 54 | z: -0.1 55 | roll: 0.0 56 | pitch: 0.0 57 | yaw: 0.0 58 | velodyne_top_base_link: 59 | x: 0.0 60 | y: 0.0 61 | z: 0.0 62 | roll: 0.0 63 | pitch: 0.0 64 | yaw: 1.575 65 | velodyne_left_base_link: 66 | x: 0.0 67 | y: 0.56362 68 | z: -0.30555 69 | roll: -0.02 70 | pitch: 0.71 71 | yaw: 1.575 72 | velodyne_right_base_link: 73 | x: 0.0 74 | y: -0.56362 75 | z: -0.30555 76 | roll: -0.01 77 | pitch: 0.71 78 | yaw: -1.580 79 | gnss_link: 80 | x: -0.1 81 | y: 0.0 82 | z: -0.2 83 | roll: 0.0 84 | pitch: 0.0 85 | yaw: 0.0 86 | tamagawa/imu_link: 87 | x: 0.0 88 | y: 0.0 89 | z: 0.0 90 | roll: 3.14159265359 91 | pitch: 0.0 92 | yaw: 3.14159265359 93 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/config/sensors_calibration.yaml: -------------------------------------------------------------------------------- 1 | base_link: 2 | sensor_kit_base_link: 3 | x: 0.9 4 | y: 0.0 5 | z: 2.0 6 | roll: -0.001 7 | pitch: 0.015 8 | yaw: -0.0364 9 | velodyne_rear_base_link: 10 | x: -0.358 11 | y: 0.0 12 | z: 1.631 13 | roll: -0.02 14 | pitch: 0.7281317 15 | yaw: 3.141592 16 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | sample_sensor_kit_description 5 | 0.42.0 6 | The sample_sensor_kit_description package 7 | Ryohsuke Mitsudome 8 | Yukihiro Saito 9 | Apache License 2.0 10 | 11 | ament_cmake_auto 12 | 13 | velodyne_description 14 | 15 | 16 | ament_cmake 17 | 18 | 19 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/urdf/sensor_kit.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 36 | 37 | 38 | 46 | 47 | 48 | 56 | 57 | 58 | 59 | 74 | 89 | 104 | 119 | 134 | 149 | 164 | 179 | 180 | 181 | 193 | 194 | 195 | 207 | 208 | 209 | -------------------------------------------------------------------------------- /sample_sensor_kit_description/urdf/sensors.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 17 | 18 | 19 | 20 | 21 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/CHANGELOG.rst: -------------------------------------------------------------------------------- 1 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 2 | Changelog for package sample_sensor_kit_launch 3 | ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ 4 | 5 | 0.42.0 (2025-03-28) 6 | ------------------- 7 | * refactor(sample_sensor_kit_launch): remove reference to tamagawa_imu_driver (`#122 `_) 8 | * Contributors: Esteve Fernandez, M. Fatih Cırıt 9 | 10 | 0.41.0 (2025-02-12) 11 | ------------------- 12 | * feat(sample_sensor_kit_launch): concatenate node load from parameter file (`#108 `_) 13 | * feat: concatenate node load from parameter file 14 | * chore: update params 15 | * chore: add use_naive_approach 16 | * chore: remove space 17 | * feat: add matching strategy params 18 | --------- 19 | * Contributors: Yi-Hsiang Fang (Vivid) 20 | 21 | 0.40.0 (2025-01-17) 22 | ------------------- 23 | * Merge branch 'main' into release-0.40.0 24 | * fix(sample_sensor_kit_launch): add autoware prefix to vehicle_velocity_converter (`#107 `_) 25 | * add autoware to vehicle_velocity_converter 26 | * add dependency autoware_vehicle_velocity_converter 27 | --------- 28 | Co-authored-by: Yamato Ando 29 | * Contributors: Masaki Baba, Ryohsuke Mitsudome 30 | 31 | 0.39.0 (2024-12-09) 32 | ------------------- 33 | * chore(gnss_launch): added autoware\_ prefix to gnss_poser (`#100 `_) 34 | * Added autoware\_ prefix to gnss_poser 35 | * style(pre-commit): autofix 36 | --------- 37 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 38 | * chore: changed the package name from imu_corrector to autoware_imu_corrector (`#99 `_) 39 | * refactor!: pointcloud_preprocessor prefix package and namespace with autoware (`#95 `_) 40 | * refactor!: pointcloud_preprocessor prefix package and namespace with autoware 41 | * style(pre-commit): autofix 42 | --------- 43 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 44 | * feat(common_sensor_launch, pointcloud_preprocessor): change pointcloud interface to synchronized pointclouds (`#91 `_) 45 | * feat: edn 46 | * fix: suppress spell-check 47 | * style(pre-commit): autofix 48 | * feat: interface change in sensing lidar pointcloud. use synchronized pointcloud as sensor interface 49 | --------- 50 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 51 | * feat: remove use_pointcloud_container (`#87 `_) 52 | * feat!: remove use_pointcloud_container 53 | * fix: remove unnecessary import 54 | --------- 55 | * fix(gnss_launch): remove gnss_frame arg (`#88 `_) 56 | remove gnss_frame arg 57 | * feat: always separate lidar preprocessing from pointcloud_container (`#85 `_) 58 | * feat!: replace use_pointcloud_container 59 | * style(pre-commit): autofix 60 | * fix: now works 61 | * revert: revert unnecessary change 62 | * include_concat_node_in_pointcloud_container to use_pointcloud_container 63 | * style(pre-commit): autofix 64 | * fix arg name 65 | --------- 66 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 67 | * refactor: rename lidar topic (`#82 `_) 68 | rename lidar topic 69 | Co-authored-by: yamato-ando 70 | * feat(imu_launch): fixed gyro_bias_estimator input (`#79 `_) 71 | Fixed gyro_bias_estimator input 72 | * feat(imu_launch): fixed gyro_bias_estimator input (`#78 `_) 73 | Fixed gyro_bias_estimator input 74 | * fix(pointcloud_preprocessor): organize input twist topic (`#77 `_) 75 | * fix(pointcloud_preprocessor): organize input twist topic 76 | * fix 77 | --------- 78 | * feat(gnss_poser): subscribe map projector info (`#73 `_) 79 | feat(gnss_poser): subscribe map_projector_info 80 | * refactor(nebula launch): consistent naming for sensor_ip parameter (`#72 `_) 81 | * feat(imu_corrector): add gyro_bias_estimator (`#70 `_) 82 | * fix(sample_sensor_kit_launch): fix how to call vehicle_id 83 | * feat(imu_corrector): add gyro_bias_validator 84 | * style(pre-commit): autofix 85 | --------- 86 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 87 | * fix(sample_sensor_kit_launch): fix how to call vehicle_id (`#69 `_) 88 | * fix(sample_sensor_kit_launch): fix how to call vehicle_id 89 | * style(pre-commit): autofix 90 | --------- 91 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 92 | * fix(sample_sensor_kit_launch): remote plane support for gnss_poser (`#68 `_) 93 | fix comment 94 | * feat(gnss_poser): remove utm projection in gnss_poser (`#67 `_) 95 | * feat: change from velodyne_vls to nebula driver (`#64 `_) 96 | * feat: change from velodyne_vls to nebula driver 97 | * style(pre-commit): autofix 98 | --------- 99 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 100 | * chore: update maintainer (`#60 `_) 101 | * feat(sample_sensor_kit_launch): add input topic remapping (`#59 `_) 102 | add input topic remappinbg 103 | * feat(sample_sensor_kit_launch): add max_sensor range in left/right lidar (`#57 `_) 104 | * add max_sensor range in left/right lidar 105 | * style(pre-commit): autofix 106 | --------- 107 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 108 | * feat(sample_sensor_kit_launch): add param file for dummy_diag_publisher (`#55 `_) 109 | * add param file for dummy_diag_publisher 110 | * fixed dummy_diag_publisher sensor_kit param yaml (add empty diag) 111 | --------- 112 | * ci(pre-commit): autoupdate (`#52 `_) 113 | * ci(pre-commit): autoupdate 114 | updates: 115 | - [github.com/igorshubovych/markdownlint-cli: v0.32.2 → v0.33.0](https://github.com/igorshubovych/markdownlint-cli/compare/v0.32.2...v0.33.0) 116 | - [github.com/adrienverge/yamllint: v1.28.0 → v1.29.0](https://github.com/adrienverge/yamllint/compare/v1.28.0...v1.29.0) 117 | - [github.com/tier4/pre-commit-hooks-ros: v0.7.1 → v0.8.0](https://github.com/tier4/pre-commit-hooks-ros/compare/v0.7.1...v0.8.0) 118 | - [github.com/shellcheck-py/shellcheck-py: v0.8.0.4 → v0.9.0.2](https://github.com/shellcheck-py/shellcheck-py/compare/v0.8.0.4...v0.9.0.2) 119 | - [github.com/scop/pre-commit-shfmt: v3.5.1-1 → v3.6.0-1](https://github.com/scop/pre-commit-shfmt/compare/v3.5.1-1...v3.6.0-1) 120 | - [github.com/pycqa/isort: 5.10.1 → 5.12.0](https://github.com/pycqa/isort/compare/5.10.1...5.12.0) 121 | - [github.com/psf/black: 22.10.0 → 23.1.0](https://github.com/psf/black/compare/22.10.0...23.1.0) 122 | * style(pre-commit): autofix 123 | --------- 124 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 125 | * feat(sample_sensor_kit_launch): pass container to velodyne nodes (`#48 `_) 126 | * feat(sample_sensor_kit_launch): pass container to velodyne nodes 127 | * feat(sample_sensor_kit_launch): align true/false 128 | * refactor(sample_sensor_kit_launch): add use_gnss_ins_orientation parameter (`#44 `_) 129 | * refactor(sample_sensor_kit_launch): add use_gnss_ins_orientation parameter 130 | * change launch param 131 | * fix(sample_sensor_kit_launch): fix arg name in gnss launch file (`#43 `_) 132 | * refactor(sample_sensor_kit_launch): update gnss launch file according to updated gnss poser package (`#42 `_) 133 | * feat(distortion_corrector): use gyroscope for correcting LiDAR distortion (`#36 `_) 134 | * removed vehicle_velocity_converter from localization 135 | * changed description of vehicle velocity converter in sensing.launch.xml 136 | * feat: load global parameter (`#31 `_) 137 | * ci(pre-commit): update pre-commit-hooks-ros (`#16 `_) 138 | * ci(pre-commit): update pre-commit-hooks-ros 139 | * ci(pre-commit): autofix 140 | * Update .pre-commit-config.yaml 141 | * Update .pre-commit-config.yaml 142 | Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> 143 | * feat: add packages (`#3 `_) 144 | * release v0.4.0 145 | * Feature/phased timestamped velodyne (`#53 `_) 146 | * Replace with new velodyne driver, cutting scan based on azimuth 147 | * Fix launch/dependences 148 | * Fix version name for tier4/velodyne_vls 149 | * Add velodyne_driver dependency 150 | * Nodelet tlr (`#56 `_) 151 | * temporary commit tlr_nodelet 152 | * compressed to compressed 153 | * Update traffic_light.launch 154 | * fix bug 155 | * change image_transport to relay 156 | * fix bug 157 | * fix bug 158 | * decompress as rgb8 159 | * fix bug 160 | Co-authored-by: Yukihiro Saito 161 | * use env for livox id (`#58 `_) 162 | * Feature/optimize scan phase (`#59 `_) 163 | * Rename parameter name, sensor_phase -> scan_phase 164 | * Modify aip_xx1 scan_phase for better perception 165 | * Rename parameter name, sensor_phase -> scan_phase 166 | * Logging simulator (`#65 `_) 167 | * Add logging_simulator.launch 168 | * Don't load env when launch driver is false 169 | * removed ROS1 package 170 | * Revert "removed ROS1 package" 171 | This reverts commit 3122355145ddfc9cb7e7485e85d509d53f6836f0. 172 | * add COLCON_IGNORE file to all ROS1 packages 173 | * rename *.launch files to *.launch.xml 174 | * Port sensing_launch (`#14 `_) 175 | * [sensing_launch] Initial port without actually launching 176 | * [sensing_launch] default -> value, namespace, first nodelet porting 177 | * [sensing_launch] use usb_cam, eval -> var 178 | * [sensing_launch] Fix syntax errors in pointcloud_preprocessor.launch.py 179 | * [pointcloud-preprocessor] fix ground-filter component name 180 | * [pointcloud-preprocessor] Polish aip_s1/pointcloud_preprocessor.launch.py 181 | Only one error at runtime remains when testing on dev laptop due to pointclouds that need to be available for concatenation 182 | * [sensing_launch] ublox_gps refer to config file properly 183 | * (wip) velodyne_node_container before opaque 184 | * [sensing_launch] Port aip-s1 as far as possible 185 | * [sensing_launch] remove unused pointcloud_preprocessor_nodes.py 186 | * [sensing_launch] Manage to add ComposableNode conditionally 187 | * [sensing_launch] Update camera for s1, x1 188 | * [sensing_launch] Copy aip_s1/ content to aip_customized, aip_x1, aip_x2 189 | because they were identical before the porting 190 | * [sensing_launch] Port livox 191 | * [sensing_launch] Port aip_xx1 192 | * [sensing_launch] Port aip_xx2 193 | * [sensing_launch] Remove superfluous passthrough filter, min_z, max_z 194 | * [sensing_launch] Incorporate changes from vehicle testing 195 | * [sensing_launch] Declare launch argument for base_frame 196 | * [sensing_launch] Missing fixes to launch/velodyne* 197 | * [sensing_launch] Update copied configs 198 | * Added linters (`#32 `_) 199 | * Ros2 v0.8.0 sensing launch (`#57 `_) 200 | * restore file name 201 | * Update livox_horizon.launch (`#89 `_) 202 | * fix pass through filter launch (`#90 `_) 203 | * fix pass through filter launch 204 | * change if statement style 205 | * update aip_x1 sensing launch (`#100 `_) 206 | * fix livox launch arg (`#108 `_) 207 | * add usb_cam depend (`#118 `_) 208 | * update aip_x1 camera.launch (`#119 `_) 209 | * update imu.launch (`#120 `_) 210 | * fix veodyne setting in aip_x1/lidar.launch (`#125 `_) 211 | * Add velodyne_monitor to velodyne\_*.launch (`#101 `_) 212 | * Uupdate aip_x1 lidar.launch (`#143 `_) 213 | * Format gnss.launch (`#145 `_) 214 | * Add use_gnss arg to aip_x1 gnss.launch (`#146 `_) 215 | * support individual params (`#137 `_) 216 | * support individual params 217 | * remove kvaser_hardware_id.txt 218 | * Launch velodyne_monitor only when launch_driver is true (`#163 `_) 219 | * [sensing_launch] ros2 porting: use container for livox point preprocessor 220 | * [sensing_launch] ros2-porting: fix vehicle_info params 221 | * Revert "restore file name" 222 | This reverts commit 37d7ac4f6a2a617b003b4e2a5ac96c48b332ade0. 223 | * [sensing_launch] ros2-porting: fix vehicle_info for livox preprocessor launch 224 | * [sensing_launch] ros2-porting: fix vehicle_info for api\_** points_preprocessor.launch.py 225 | * fix launch 226 | * fix livox launch 227 | * added suffix ".xml" to "velodyne_monitor.launch" in the launch files 228 | * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters in the *.launch.py (`#61 `_) 229 | * added use_sim_time with AW_ROS2_USE_SIM_TIME envvar for the parameters 230 | * changed to use EnvironmentVariable function for use_sim_time parameter 231 | * changed indent 232 | * removed an empty line 233 | Co-authored-by: hosokawa 234 | * fixed typo on the arg bd_code_param_path lines (`#63 `_) 235 | Co-authored-by: hosokawa 236 | * [sensing_launch]: Fix indentation in gnss launch 237 | * [sensing_launch]: Add missing dependency in package.xml 238 | * [sensing_launch]: Fix velodyne launch 239 | * [sensing_launch]: Fix livox launch 240 | * [sensing_launch]: Add arg for vehicle parameter file in lidar launch 241 | * [sensing_launch]: Cleanup 242 | * Add new line 243 | * [sensing_launch]: Add default config for xx1 244 | * [sensing_launch]: Fix indentation 245 | Co-authored-by: Yukihiro Saito 246 | Co-authored-by: Taichi Higashide 247 | Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> 248 | Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> 249 | Co-authored-by: hosokawa 250 | Co-authored-by: HOSOKAWA Ikuto 251 | Co-authored-by: wep21 252 | Co-authored-by: Autoware 253 | * Rename ROS-related .yaml to .param.yaml (`#65 `_) 254 | * Rename ROS-related .yaml to .param.yaml 255 | * Add missing '--' 256 | * Rename vehicle_info.yaml to vehicle_info.param.yaml 257 | * Fix livox param name 258 | * Sync with Ros2 v0.8.0 beta (`#71 `_) 259 | * update sensing launch to support aip_x1 (`#69 `_) 260 | * fix logging_simulator_bug (`#68 `_) 261 | * fix aip_x1 param (`#70 `_) 262 | Co-authored-by: Taichi Higashide 263 | * Fix aip_xx1's pointcloud_preprocessor.launch.py (`#72 `_) 264 | * fix velodyne launch (`#73 `_) 265 | * fix velodyne launch 266 | * fix bug 267 | * add scan_phase arg 268 | * fix bug (`#85 `_) 269 | * Use sensor data qos for pointcloud (`#82 `_) 270 | Co-authored-by: Autoware 271 | * Remove unused remappings (`#88 `_) 272 | * Livox composable node (`#87 `_) 273 | * Fix default value of use_concat_filter and use_radius_search (`#90 `_) 274 | * Fix default value of use_concat_filter and use_radius_search 275 | * Fix lint 276 | * [aip_x1]: Fix imu topic name (`#94 `_) 277 | * Fix various typos in launch files (`#97 `_) 278 | * Move individual params to a separate package (`#100 `_) 279 | * Remove individual params (`#101 `_) 280 | * add use_sim-time option (`#99 `_) 281 | * Format launch files (`#178 `_) 282 | * Fix bug of pointcloud_preprocessor.py (`#179 `_) 283 | Co-authored-by: autoware 284 | * Replace doc by description (`#182 `_) 285 | * Ros2 lsim test (`#186 `_) 286 | * Add group to launch file for var scope 287 | * Remove pointcloud relay for localization 288 | * Add use_sim_time 289 | * Remove pointcloud relay for localization 290 | Co-authored-by: Takagi, Isamu 291 | * Add multithread and intra process option (`#187 `_) 292 | * Add multithread and intra process option 293 | * Fix velodyne node container executable 294 | * Add option into aip_xx2 295 | * Add option into aip_x2 296 | * Add option into aip_x1 297 | * Add option into aip_s1 298 | * Add option into aip_customized 299 | * Add option into lidar.launch.xml 300 | * Fix invalid attribute in gnss launch (`#191 `_) 301 | * Fix parameter for scan phase (`#193 `_) 302 | * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) (`#196 `_) 303 | * add septentrio_gnss_driver launcher and switch(septentrio <-> ublox) 304 | * rm arg(gnss_receiver) escalation and modify septentrio_gnss_driver_node option 305 | * change gnss_receiver default septentrio to ublox 306 | * remap all septentrio_gnss_driver topic names 307 | * replace septentrio gnss driver launch type 'node' to 'include' 308 | * Use set_parameter for use_sim_time (`#198 `_) 309 | * Use set_parameter for use_sim_time 310 | * Add default parameter for scenario simulator 311 | * Format launch files (`#228 `_) 312 | * Format launch files 313 | * Format launch.py 314 | * Fix lint 315 | * Fix aip_xx1 camera launch (`#242 `_) 316 | * Fix gnss topic name (`#243 `_) 317 | * Enable intra process and mt (`#204 `_) 318 | * add imu_corrector (`#296 `_) 319 | * add description for sensing_launch (`#336 `_) 320 | * add description 321 | * fix sentence 322 | * add README.md and svg files (`#328 `_) 323 | * add md and svg 324 | * fix typo 325 | * fix typo 326 | * fix word 327 | * fix typo 328 | * add lack of things 329 | * Update README 330 | * fix depending packages 331 | * fix word 332 | * Fix camera launch invalid type string (`#344 `_) 333 | * add view width direction to velodyne_node_container.launch.py etc... (`#366 `_) 334 | * add arg of view_width and view_direction 335 | * delete initial value 336 | * add args and params 337 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 338 | * Fix pre-commit (`#407 `_) 339 | * Fix pre-commit errors 340 | * Fix package.xml 341 | * Fix pre-commit target (`#436 `_) 342 | * Use scan ground filter for xx1 (`#313 `_) 343 | * Enable time series outlier filter (`#314 `_) 344 | * Fix param name in scan ground filter (`#357 `_) 345 | * Remove aip xx2 model from sensing launch (`#446 `_) 346 | * Add respawn for ublox (`#449 `_) 347 | * delete aip_customized 348 | * move to aip_launcher 349 | * delete namespace (`#5 `_) 350 | * fix revert dirname + delete unused arg (`#7 `_) 351 | * revert dirname 352 | * delete sensor_model 353 | * delete aip_s1 (`#8 `_) 354 | * Add pre-commit (`#10 `_) 355 | * Add pre-commit 356 | * Fix for pre-commit 357 | * Update version 358 | * Fix target 359 | * update README (`#9 `_) 360 | * update README temporary 361 | * Update 362 | * updateg 363 | * delete line number 364 | * re delete line number 365 | * fix for pre commit 366 | * fix for pre-commit 367 | * fix for pre commit 368 | * update README 369 | * update README 370 | * update README 371 | * Update README 372 | * update readme 373 | * use back quote 374 | * Sync with xx1 develop/ros2 (`#14 `_) 375 | * Fix velodyne launcher (`#15 `_) 376 | * Fix lidar launcher (`#16 `_) 377 | * Rollback XX1's pointcloud_preprocessor to main (`#18 `_) 378 | * Update aip_x1 launch files (`#25 `_) 379 | * Copy velodyne_node_container.launch.py to aip_x1_launch 380 | * Disable driving recorder (`#19 `_) 381 | * add use_driving_recorder param 382 | Co-authored-by: taichiH 383 | * X1: Change scan_phase 0 to 180 deg 384 | * X1: Add topic state monitor 385 | * Add Livox tag filter 386 | * Add Livox min_range_filter 387 | * change livox_horizon.launch to support livox_tag_filter composable node (`#62 `_) 388 | * remove unnecessary crop filter for aip_x1 (`#63 `_) 389 | * remove sensing-lidar-pointcloud relay 390 | * add livox concatenate 391 | * disable use_intra_process for vector_map_filter 392 | * change use_intra_process to true 393 | * [sac ground filter] change height threshold 0.12 -> 0.18 394 | * Update launch for multi topic livox mode (`#68 `_) 395 | Co-authored-by: Hiroaki ISHIKAWA 396 | Co-authored-by: taichiH 397 | * add westering sun extraction filter (`#76 `_) 398 | * fix bug (`#92 `_) 399 | * Fix concat timeout (`#91 `_) 400 | * add new livox driver launch file (`#94 `_) 401 | * fix frame_id (`#95 `_) 402 | * Feature/compare elevation map (`#100 `_) 403 | * Change livox crop range 14m->18m 404 | * Use executable for new_lidar_driver_launch (`#120 `_) 405 | * Change ransac height thresh (`#110 `_) (`#115 `_) 406 | * Add livox to diag name of topic_state_monitor (`#162 `_) 407 | * Change elevation value method and height thresh (`#163 `_) 408 | * change ground filter hight threshold (`#174 `_) (`#176 `_) 409 | Co-authored-by: Taichi Higashide 410 | * Copy velodyne_VLP16.launch.xml to aip_x1_launch 411 | * Change velodyne_node_container.launch.py reference in velodyne_VLP16.launch.xml 412 | Co-authored-by: Hiroki OTA 413 | Co-authored-by: taichiH 414 | Co-authored-by: Taichi Higashide 415 | Co-authored-by: tomoya.kimura 416 | Co-authored-by: Kosuke Takeuchi 417 | Co-authored-by: Hiroaki ISHIKAWA 418 | Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> 419 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 420 | * Add parameter file for diagnostic_aggregator to use in each product (`#13 `_) 421 | * add xx1 parameter 422 | * add x1 parameter 423 | * add x2 parameter 424 | * delete autoware_error_monitor 425 | * add sensor_kit.param for diagnostic_agg 426 | * update extra senser diag 427 | * Remove IMU from X2 428 | * Move to config directory 429 | Co-authored-by: Kenji Miyake 430 | * Revert "Rollback XX1's pointcloud_preprocessor to main (`#18 `_)" 431 | This reverts commit 4f9d0e8384526d0638a18856c16500cf8933690b. 432 | * Change formatter to black (`#38 `_) 433 | * Update pre-commit settings 434 | * Apply Black 435 | * Replace ament_lint_common with autoware_lint_common 436 | * Update build_depends.repos 437 | * Fix build_depends 438 | * Remove lidar_ros_driver from package.xml (`#39 `_) 439 | * remove unused pointcloud preprocessor components (`#2 `_) 440 | * feature/use common pointcloud container (`#8 `_) 441 | * add arg 442 | * improve readability 443 | * fix/remove passthrough filter (`#9 `_) 444 | * release v0.4.0 445 | * Add vls description (`#3 `_) 446 | * remove ROS1 packages 447 | * Revert "remove ROS1 packages" 448 | This reverts commit 7c1e0d930473170ada063f45c961dc40abd0357b. 449 | * add colcon_ignore 450 | * port to ROS2 451 | * add xacro namespace for VLP-16/128 tags 452 | * fix xacro:color value 453 | * Ros2 v0.8.0 update (`#7 `_) 454 | * [ROS2] pandar_description (`#9 `_) 455 | * Feature/add pandar (`#7 `_) 456 | * add decription for Hesai LiDAR 457 | * fix direction 458 | * update for ros2 459 | * fix config_dir (`#11 `_) 460 | * delete descriptions except for current reference 461 | * fix suffix to name (`#2 `_) 462 | * delete aip_s1 (`#3 `_) 463 | * Modify sensor config (`#4 `_) 464 | * Update x1 sensor config files 465 | * Update xx1 sensor config files 466 | * Update x2 sensor config files 467 | * Run pre-commit 468 | * Add prettier-xacro to pre-commit (`#6 `_) 469 | * Run pre-commit 470 | * Update README.md 471 | * Fix for pre-commit 472 | * Cosmetic change 473 | * Add _link 474 | * Fix missing link 475 | Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> 476 | Co-authored-by: Kenji Miyake 477 | * Fix tlr camera link name for xx1 (`#9 `_) 478 | * update README.md 479 | * fix build depends 480 | * fix files 481 | * apply pre-commit 482 | * fix package.xml 483 | * remove README for now 484 | Co-authored-by: mitsudome-r 485 | Co-authored-by: Akihito Ohsato 486 | Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> 487 | Co-authored-by: Yukihiro Saito 488 | Co-authored-by: Frederik Beaujean <72439809+fred-apex-ai@users.noreply.github.com> 489 | Co-authored-by: Esteve Fernandez 490 | Co-authored-by: Takamasa Horibe 491 | Co-authored-by: Taichi Higashide 492 | Co-authored-by: hiroyuki obinata <58019445+obi-t4@users.noreply.github.com> 493 | Co-authored-by: hosokawa 494 | Co-authored-by: HOSOKAWA Ikuto 495 | Co-authored-by: wep21 496 | Co-authored-by: Autoware 497 | Co-authored-by: Kazuki Miyahara 498 | Co-authored-by: tkimura4 499 | Co-authored-by: autoware 500 | Co-authored-by: Takagi, Isamu 501 | Co-authored-by: hiro-ya-iv <30652835+hiro-ya-iv@users.noreply.github.com> 502 | Co-authored-by: YamatoAndo 503 | Co-authored-by: Hiroki OTA 504 | Co-authored-by: Kosuke Takeuchi 505 | Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> 506 | Co-authored-by: taichiH 507 | Co-authored-by: Hiroaki ISHIKAWA 508 | Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com> 509 | Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> 510 | Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> 511 | Co-authored-by: Shinnosuke Hirakawa <8327162+0x126@users.noreply.github.com> 512 | * Contributors: Amadeusz Szymko, David Wong, Kaan Çolak, Kenji Miyake, Kento Yabuuchi, Kenzo Lobos Tsunekawa, SakodaShintaro, Shunsuke Miura, TaikiYamada4, Takagi, Isamu, Takeshi Miura, Yamato Ando, Yoshi Ri, asana17, kminoda, melike, pre-commit-ci[bot] 513 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.5) 2 | project(sample_sensor_kit_launch) 3 | 4 | find_package(ament_cmake_auto REQUIRED) 5 | ament_auto_find_build_dependencies() 6 | 7 | if(BUILD_TESTING) 8 | find_package(ament_lint_auto REQUIRED) 9 | ament_lint_auto_find_test_dependencies() 10 | endif() 11 | 12 | ament_auto_package(INSTALL_TO_SHARE 13 | launch 14 | data 15 | config 16 | ) 17 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/config/concatenate_and_time_sync_node.param.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | debug_mode: false 4 | has_static_tf_only: false 5 | rosbag_length: 10.0 6 | maximum_queue_size: 5 7 | timeout_sec: 0.2 8 | is_motion_compensated: true 9 | publish_synchronized_pointcloud: true 10 | keep_input_frame_in_synchronized_pointcloud: true 11 | publish_previous_but_late_pointcloud: false 12 | synchronized_pointcloud_postfix: pointcloud 13 | input_twist_topic_type: twist 14 | input_topics: [ 15 | "/sensing/lidar/right/pointcloud_before_sync", 16 | "/sensing/lidar/top/pointcloud_before_sync", 17 | "/sensing/lidar/left/pointcloud_before_sync", 18 | ] 19 | output_frame: base_link 20 | matching_strategy: 21 | type: advanced 22 | lidar_timestamp_offsets: [0.0, 0.015, 0.016] 23 | lidar_timestamp_noise_window: [0.01, 0.01, 0.01] 24 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/config/diagnostic_aggregator/sensor_kit.param.yaml: -------------------------------------------------------------------------------- 1 | /**: 2 | ros__parameters: 3 | sensing: 4 | type: diagnostic_aggregator/AnalyzerGroup 5 | path: sensing 6 | analyzers: 7 | lidar: 8 | type: diagnostic_aggregator/AnalyzerGroup 9 | path: lidar 10 | analyzers: 11 | velodyne: 12 | type: diagnostic_aggregator/AnalyzerGroup 13 | path: velodyne 14 | analyzers: 15 | health_monitoring: 16 | type: diagnostic_aggregator/AnalyzerGroup 17 | path: health_monitoring 18 | analyzers: 19 | connection: 20 | type: diagnostic_aggregator/GenericAnalyzer 21 | path: connection 22 | contains: [": velodyne_connection"] 23 | timeout: 3.0 24 | 25 | temperature: 26 | type: diagnostic_aggregator/GenericAnalyzer 27 | path: temperature 28 | contains: [": velodyne_temperature"] 29 | timeout: 3.0 30 | 31 | rpm: 32 | type: diagnostic_aggregator/GenericAnalyzer 33 | path: rpm 34 | contains: [": velodyne_rpm"] 35 | timeout: 3.0 36 | 37 | gnss: 38 | type: diagnostic_aggregator/AnalyzerGroup 39 | path: gnss 40 | analyzers: 41 | health_monitoring: 42 | type: diagnostic_aggregator/AnalyzerGroup 43 | path: health_monitoring 44 | analyzers: 45 | connection: 46 | type: diagnostic_aggregator/GenericAnalyzer 47 | path: connection 48 | contains: [": gnss_connection"] 49 | timeout: 3.0 50 | 51 | data: 52 | type: diagnostic_aggregator/GenericAnalyzer 53 | path: data 54 | contains: [": gnss_data"] 55 | timeout: 3.0 56 | 57 | antenna: 58 | type: diagnostic_aggregator/GenericAnalyzer 59 | path: antenna 60 | contains: [": gnss_antenna"] 61 | timeout: 3.0 62 | 63 | tx_usage: 64 | type: diagnostic_aggregator/GenericAnalyzer 65 | path: tx_usage 66 | contains: [": gnss_tx_usage"] 67 | timeout: 3.0 68 | 69 | spoofing: 70 | type: diagnostic_aggregator/GenericAnalyzer 71 | path: spoofing 72 | contains: [": gnss_spoofing"] 73 | timeout: 3.0 74 | 75 | jamming: 76 | type: diagnostic_aggregator/GenericAnalyzer 77 | path: jamming 78 | contains: [": gnss_jamming"] 79 | timeout: 3.0 80 | 81 | fix_topic_status: 82 | type: diagnostic_aggregator/GenericAnalyzer 83 | path: fix_topic_status 84 | contains: [": fix topic status"] 85 | timeout: 3.0 86 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/config/dummy_diag_publisher/sensor_kit.param.yaml: -------------------------------------------------------------------------------- 1 | # Description: 2 | # required_diags: 3 | # : {is_active: , status: } 4 | # name: diag name 5 | # is_active: Force update or not 6 | # status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" 7 | # 8 | # Note: 9 | # 10 | # default values are: 11 | # is_active: "true" 12 | # status: "OK" 13 | --- 14 | /**: 15 | ros__parameters: 16 | required_diags: 17 | dummy_diag_empty: default 18 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/data/traffic_light_camera.yaml: -------------------------------------------------------------------------------- 1 | image_width: 1920 2 | image_height: 1080 3 | camera_name: traffic_light/camera 4 | camera_matrix: 5 | rows: 3 6 | cols: 3 7 | data: 8 | [ 9 | 2410.755261, 10 | 0.000000, 11 | 922.621401, 12 | 0.000000, 13 | 2403.573140, 14 | 534.752500, 15 | 0.000000, 16 | 0.000000, 17 | 1.000000, 18 | ] 19 | distortion_model: plumb_bob 20 | distortion_coefficients: 21 | rows: 1 22 | cols: 5 23 | data: [-0.126600, 0.152594, 0.002432, -0.001244, 0.000000] 24 | rectification_matrix: 25 | rows: 3 26 | cols: 3 27 | data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] 28 | projection_matrix: 29 | rows: 3 30 | cols: 4 31 | data: 32 | [ 33 | 2370.254883, 34 | 0.000000, 35 | 920.136018, 36 | 0.000000, 37 | 0.000000, 38 | 2388.885254, 39 | 535.599668, 40 | 0.000000, 41 | 0.000000, 42 | 0.000000, 43 | 1.000000, 44 | 0.000000, 45 | ] 46 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/launch/camera.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/launch/gnss.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/launch/imu.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/launch/lidar.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/launch/pointcloud_preprocessor.launch.py: -------------------------------------------------------------------------------- 1 | # Copyright 2020 Tier IV, Inc. All rights reserved. 2 | # 3 | # Licensed under the Apache License, Version 2.0 (the "License"); 4 | # you may not use this file except in compliance with the License. 5 | # You may obtain a copy of the License at 6 | # 7 | # http://www.apache.org/licenses/LICENSE-2.0 8 | # 9 | # Unless required by applicable law or agreed to in writing, software 10 | # distributed under the License is distributed on an "AS IS" BASIS, 11 | # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 | # See the License for the specific language governing permissions and 13 | # limitations under the License. 14 | 15 | import os 16 | 17 | from ament_index_python.packages import get_package_share_directory 18 | import launch 19 | from launch.actions import DeclareLaunchArgument 20 | from launch.actions import OpaqueFunction 21 | from launch.actions import SetLaunchConfiguration 22 | from launch.conditions import IfCondition 23 | from launch.conditions import UnlessCondition 24 | from launch.substitutions import LaunchConfiguration 25 | from launch_ros.actions import LoadComposableNodes 26 | from launch_ros.descriptions import ComposableNode 27 | from launch_ros.parameter_descriptions import ParameterFile 28 | 29 | 30 | def launch_setup(context, *args, **kwargs): 31 | # concatenate node parameters 32 | concatenate_and_time_sync_node_param = ParameterFile( 33 | param_file=LaunchConfiguration("concatenate_and_time_sync_node_param_path").perform( 34 | context 35 | ), 36 | allow_substs=True, 37 | ) 38 | 39 | # set concat filter as a component 40 | concat_component = ComposableNode( 41 | package="autoware_pointcloud_preprocessor", 42 | plugin="autoware::pointcloud_preprocessor::PointCloudConcatenateDataSynchronizerComponent", 43 | name="concatenate_data", 44 | remappings=[ 45 | ("~/input/twist", "/sensing/vehicle_velocity_converter/twist_with_covariance"), 46 | ("output", "concatenated/pointcloud"), 47 | ], 48 | parameters=[concatenate_and_time_sync_node_param], 49 | extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}], 50 | ) 51 | 52 | # load concat or passthrough filter 53 | concat_loader = LoadComposableNodes( 54 | composable_node_descriptions=[concat_component], 55 | target_container=LaunchConfiguration("pointcloud_container_name"), 56 | condition=IfCondition(LaunchConfiguration("use_concat_filter")), 57 | ) 58 | 59 | return [concat_loader] 60 | 61 | 62 | def generate_launch_description(): 63 | launch_arguments = [] 64 | 65 | def add_launch_arg(name: str, default_value=None): 66 | launch_arguments.append(DeclareLaunchArgument(name, default_value=default_value)) 67 | 68 | sample_sensor_kit_launch_share_dir = get_package_share_directory("sample_sensor_kit_launch") 69 | 70 | add_launch_arg("base_frame", "base_link") 71 | add_launch_arg("use_multithread", "False") 72 | add_launch_arg("use_intra_process", "False") 73 | add_launch_arg("pointcloud_container_name", "pointcloud_container") 74 | add_launch_arg( 75 | "concatenate_and_time_sync_node_param_path", 76 | os.path.join( 77 | sample_sensor_kit_launch_share_dir, 78 | "config", 79 | "concatenate_and_time_sync_node.param.yaml", 80 | ), 81 | ) 82 | 83 | set_container_executable = SetLaunchConfiguration( 84 | "container_executable", 85 | "component_container", 86 | condition=UnlessCondition(LaunchConfiguration("use_multithread")), 87 | ) 88 | 89 | set_container_mt_executable = SetLaunchConfiguration( 90 | "container_executable", 91 | "component_container_mt", 92 | condition=IfCondition(LaunchConfiguration("use_multithread")), 93 | ) 94 | 95 | return launch.LaunchDescription( 96 | launch_arguments 97 | + [set_container_executable, set_container_mt_executable] 98 | + [OpaqueFunction(function=launch_setup)] 99 | ) 100 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/launch/sensing.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | -------------------------------------------------------------------------------- /sample_sensor_kit_launch/package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | sample_sensor_kit_launch 5 | 0.42.0 6 | The sample_sensor_kit_launch package 7 | Ryohsuke Mitsudome 8 | Yukihiro Saito 9 | Apache License 2.0 10 | 11 | ament_cmake_auto 12 | 13 | autoware_gnss_poser 14 | autoware_pointcloud_preprocessor 15 | autoware_vehicle_velocity_converter 16 | common_sensor_launch 17 | topic_tools 18 | ublox_gps 19 | usb_cam 20 | 21 | ament_lint_auto 22 | autoware_lint_common 23 | 24 | 25 | ament_cmake 26 | 27 | 28 | -------------------------------------------------------------------------------- /setup.cfg: -------------------------------------------------------------------------------- 1 | # This file is automatically synced from: 2 | # https://github.com/autowarefoundation/sync-file-templates 3 | # To make changes, update the source repository and follow the guidelines in its README. 4 | 5 | [flake8] 6 | # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini 7 | extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 8 | import-order-style = pep8 9 | max-line-length = 100 10 | show-source = true 11 | statistics = true 12 | 13 | [isort] 14 | profile=black 15 | line_length=100 16 | force_sort_within_sections=true 17 | force_single_line=true 18 | reverse_relative=true 19 | known_third_party=launch 20 | --------------------------------------------------------------------------------