Merge pull request #219 from tier4/update/for-beta-v0.31.0.0

chore: update for beta/v0.31.0.0
tier4 · Mar 22, 2022 · e12c7e8 · e12c7e8
2 parents 7db4c1c + 5f54753
commit e12c7e8
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diff --git a/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml b/...onfig/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml
@@ -1,52 +1,64 @@
 /**:
   ros__parameters:
     can_assign_matrix:
-      #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
-      [0,       0,   0,     0,   0,       0,         0,          0,    #UNKNOWN
-       1,       1,   1,     1,   0,       0,         0,          0,    #CAR
-       1,       1,   1,     1,   0,       0,         0,          0,    #TRUCK
-       1,       1,   1,     1,   0,       0,         0,          0,    #BUS
-       0,       0,   0,     0,   1,       1,         1,          0,    #BICYCLE
-       0,       0,   0,     0,   1,       1,         1,          0,    #MOTORBIKE
-       0,       0,   0,     0,   1,       1,         1,          0,    #PEDESTRIAN
-       0,       0,   0,     0,   0,       0,         0,          1]    #ANIMAL
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE PEDESTRIAN
+      [0,       0,   0,     0,    0,       0,         0,      0,         #UNKNOWN
+       1,       1,   1,     1,    1,       0,         0,      0,         #CAR
+       1,       1,   1,     1,    1,       0,         0,      0,         #TRUCK
+       1,       1,   1,     1,    1,       0,         0,      0,         #BUS
+       1,       1,   1,     1,    1,       0,         0,      0,         #TRAILER
+       0,       0,   0,     0,    0,       1,         1,      1,         #MOTORBIKE
+       0,       0,   0,     0,    0,       1,         1,      1,         #BICYCLE
+       0,       0,   0,     0,    0,       1,         1,      1]         #PEDESTRIAN
+
     max_dist_matrix:
-      #UNKNOWN, CAR, TRUCK, BUS, BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
-      [1.0,     1.0, 1.0,   1.0, 1.0,     1.0,       1.0,        1.0,  #UNKNOWN
-       4.0,     2.0, 5.0,   5.0, 1.0,     1.0,       1.0,        1.0,  #CAR
-       4.0,     2.0, 5.0,   5.0, 1.0,     1.0,       1.0,        1.0,  #TRUCK
-       4.0,     2.0, 5.0,   5.0, 1.0,     1.0,       1.0,        1.0,  #BUS
-       3.0,     1.0, 1.0,   1.0, 3.0,     3.0,       2.0,        1.0,  #BICYCLE
-       3.0,     1.0, 1.0,   1.0, 3.0,     3.0,       2.0,        1.0,  #MOTORBIKE
-       2.0,     1.0, 1.0,   1.0, 3.0,     3.0,       2.0,        1.0,  #PEDESTRIAN
-       1.0,     1.0, 1.0,   1.0, 1.0,     1.0,       1.0,        1.0]  #ANIMAL
+      #UNKNOWN, CAR, TRUCK, BUS,  TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN
+      [1.0,     1.0, 1.0,   1.0,  1.0,     1.0,       1.0,     1.0,       #UNKNOWN
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #CAR
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRUCK
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #BUS
+       4.0,     2.0, 5.0,   5.0,  5.0,     1.0,       1.0,     1.0,       #TRAILER
+       3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #MOTORBIKE
+       3.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0,       #BICYCLE
+       2.0,     1.0, 1.0,   1.0,  1.0,     3.0,       3.0,     2.0]       #PEDESTRIAN
     max_area_matrix:
-      #UNKNOWN,  CAR,      TRUCK,    BUS,      BICYCLE,  MOTORBIKE, PEDESTRIAN, ANIMAL
-      [10000.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,   10000.00,  #UNKNOWN
-          12.10,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #CAR
-          19.75,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #TRUCK
-          32.40,    12.10,    19.75,    32.40, 10000.00, 10000.00,  10000.00,   10000.00,  #BUS
-           2.50, 10000.00, 10000.00, 10000.00,     2.50,     2.50,      1.00,   10000.00,  #BICYCLE
-           3.00, 10000.00, 10000.00, 10000.00,     2.50,     2.50,      1.00,   10000.00,  #MOTORBIKE
-           2.00, 10000.00, 10000.00, 10000.00,     1.50,     1.50,      1.00,   10000.00,  #PEDESTRIAN
-           2.00, 10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,   10000.00]  #ANIMAL
+      #UNKNOWN,  CAR,      TRUCK,    BUS,      TRAILER,   MOTORBIKE, BICYCLE,  PEDESTRIAN
+      [10000.00, 10000.00, 10000.00, 10000.00, 10000.00,  10000.00,  10000.00, 10000.00,   #UNKNOWN
+          12.10,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #CAR
+          19.75,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRUCK
+          32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #BUS
+          32.40,    12.10,    19.75,    32.40,    32.40,  10000.00,  10000.00, 10000.00,   #TRAILER
+           3.00, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #MOTORBIKE
+           2.50, 10000.00, 10000.00, 10000.00, 10000.00,      2.50,      2.50,     1.00,   #BICYCLE
+           2.00, 10000.00, 10000.00, 10000.00, 10000.00,      1.50,      1.50,     1.00]   #PEDESTRIAN
     min_area_matrix:
-      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
-      [ 0.000,  0.000, 0.000,  0.000, 0.000,   0.000,     0.000,      0.000,  #UNKNOWN
-        3.600,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #CAR
-        6.000,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #TRUCK
-       10.000,  3.600, 6.000, 10.000, 0.000,   0.000,     0.000,      0.000,  #BUS
-        0.001,  0.000, 0.000,  0.000, 0.100,   0.100,     0.100,      0.000,  #BICYCLE
-        0.001,  0.000, 0.000,  0.000, 0.100,   0.100,     0.100,      0.000,  #MOTORBIKE
-        0.001,  0.000, 0.000,  0.000, 0.100,   0.100,     0.100,      0.000,  #PEDESTRIAN
-        0.500,  0.000, 0.000,  0.000, 0.000,   0.000,     0.000,      0.000]  #ANIMAL
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [ 0.000,  0.000, 0.000,  0.000, 0.000,    0.000,     0.000,   0.000,      #UNKNOWN
+        3.600,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #CAR
+        6.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRUCK
+       10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #BUS
+       10.000,  3.600, 6.000, 10.000, 10.000,   0.000,     0.000,   0.000,      #TRAILER
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #MOTORBIKE
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100,      #BICYCLE
+        0.001,  0.000, 0.000,  0.000, 0.000,    0.100,     0.100,   0.100]      #PEDESTRIAN
     max_rad_matrix: # If value is greater than pi, it will be ignored.
-      #UNKNOWN, CAR,   TRUCK, BUS,    BICYCLE, MOTORBIKE, PEDESTRIAN, ANIMAL
-      [3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #UNKNOWN
-       3.150,   1.047, 1.047, 1.047,  3.150,   3.150,     3.150,      3.150,  #CAR
-       3.150,   1.047, 1.047, 1.047,  3.150,   3.150,     3.150,      3.150,  #TRUCK
-       3.150,   1.047, 1.047, 1.047,  3.150,   3.150,     3.150,      3.150,  #BUS
-       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #BICYCLE
-       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #MOTORBIKE
-       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150,  #PEDESTRIAN
-       3.150,   3.150, 3.150, 3.150,  3.150,   3.150,     3.150,      3.150]  #ANIMAL
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER MOTORBIKE, BICYCLE, PEDESTRIAN
+      [3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #UNKNOWN
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #CAR
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRUCK
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #BUS
+       3.150,   1.047, 1.047, 1.047,  1.047,  3.150,     3.150,   3.150,      #TRAILER
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #MOTORBIKE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150,      #BICYCLE
+       3.150,   3.150, 3.150, 3.150,  3.150,  3.150,     3.150,   3.150]      #PEDESTRIAN
+
+    min_iou_matrix:
+      #UNKNOWN, CAR,   TRUCK, BUS,    TRAILER,  MOTORBIKE, BICYCLE, PEDESTRIAN
+      [0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #UNKNOWN
+       0.1,     0.3,   0.2,   0.2,    0.2,      0.1,       0.1,     0.1,       #CAR
+       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRUCK
+       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #BUS
+       0.1,     0.2,   0.3,   0.3,    0.3,      0.1,       0.1,     0.1,       #TRAILER
+       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #MOTORBIKE
+       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1,       #BICYCLE
+       0.1,     0.1,   0.1,   0.1,    0.1,      0.1,       0.1,     0.1]       #PEDESTRIAN
diff --git a/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml b/...launch/launch/object_recognition/detection/camera_lidar_fusion_based_detection.launch.xml
@@ -34,9 +34,10 @@
   </include> -->
 
   <group>
-    <push-ros-namespace namespace="euclidean"/>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
-      <arg name="output_clusters" value="lidar/clusters"/>
+      <arg name="output_clusters" value="clusters"/>
+      <arg name="use_pointcloud_map" value="false"/>
     </include>
     <include file="$(find-pkg-share roi_cluster_fusion)/launch/roi_cluster_fusion.launch.xml">
       <arg name="input/camera_info0" value="$(var camera_info0)"/>
@@ -56,7 +57,7 @@
       <arg name="input/camera_info7" value="$(var camera_info7)"/>
       <arg name="input/rois7" value="/perception/object_recognition/detection/rois7"/>
       <arg name="input/rois_number" value="$(var image_number)"/>
-      <arg name="input/clusters" value="clustering/lidar/clusters"/>
+      <arg name="input/clusters" value="clusters"/>
       <arg name="input/image0" value="$(var image_raw0)"/>
       <arg name="input/image1" value="$(var image_raw1)"/>
       <arg name="input/image2" value="$(var image_raw2)"/>
@@ -68,10 +69,8 @@
       <arg name="output" value="camera_lidar_fusion/clusters"/>
     </include>
     <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
-      <arg name="use_map_current" value="$(var use_vector_map)"/>
       <arg name="input/objects" value="camera_lidar_fusion/clusters" />
       <arg name="output/objects" value="camera_lidar_fusion/objects_with_feature" />
-      <arg name="orientation_reliable" value="false"/>
     </include>
     <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
     <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -101,7 +100,7 @@
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_map_current" value="$(var use_vector_map)"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">
@@ -111,9 +110,23 @@
     </group>
   </group>
 
+  <!-- DetectionByTracker -->
+  <group>
+    <push-ros-namespace namespace="detection_by_tracker"/>
+    <include file="$(find-pkg-share detection_by_tracker)/launch/detection_by_tracker.launch.xml">
+    </include>
+  </group>
+
+  <!-- Merger -->
   <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
     <arg name="input/object0" value="$(var lidar_detection_model)/objects"/>
-    <arg name="input/object1" value="euclidean/camera_lidar_fusion/short_range_objects"/>
+    <arg name="input/object1" value="clustering/camera_lidar_fusion/short_range_objects"/>
+    <arg name="output/object" value="camera_lidar_fusion/objects"/>
+  </include>
+  <include file="$(find-pkg-share object_merger)/launch/object_association_merger.launch.xml">
+    <arg name="input/object0" value="detection_by_tracker/objects"/>
+    <arg name="input/object1" value="camera_lidar_fusion/objects"/>
     <arg name="output/object" value="objects"/>
   </include>
+
 </launch>
diff --git a/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml b/perception_launch/launch/object_recognition/detection/lidar_based_detection.launch.xml
@@ -5,6 +5,7 @@
 
   <!-- Clustering -->
   <group>
+    <push-ros-namespace namespace="clustering"/>
     <include file="$(find-pkg-share euclidean_cluster)/launch/voxel_grid_based_euclidean_cluster.launch.xml">
       <arg name="output_clusters" value="clusters"/>
       <arg name="use_pointcloud_map" value="false"/>
@@ -33,7 +34,7 @@
       <include file="$(find-pkg-share lidar_apollo_instance_segmentation)/launch/lidar_apollo_instance_segmentation.launch.xml" />
       <include file="$(find-pkg-share shape_estimation)/launch/shape_estimation.launch.xml">
         <arg name="output/objects" value="objects_with_feature"/>
-        <arg name="use_map_current" value="$(var use_vector_map)"/>
+        <arg name="use_vehicle_reference_yaw" value="true"/>
       </include>
       <!-- convert DynamicObjectsWithFeatureArray to DynamicObjects -->
       <include file="$(find-pkg-share detected_object_feature_remover)/launch/detected_object_feature_remover.launch.xml">

diff --git a/...ing/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml b/...ing/lane_driving/behavior_planning/behavior_path_planner/side_shift/side_shift.param.yaml
@@ -6,3 +6,4 @@
       shifting_lateral_jerk: 0.2
       min_shifting_distance: 5.0
       min_shifting_speed: 5.56
+      shift_request_time_limit: 1.0