Merge branch 'main' into fix/fix_sensing_docs

autowarefoundation · Dec 25, 2024 · db38678 · db38678
2 parents 98a8778 + 2465d07
commit db38678
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diff --git a/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp b/common/autoware_adapi_specs/include/autoware/adapi_specs/vehicle.hpp
@@ -41,7 +41,7 @@ struct VehicleStatus
   using Message = autoware_adapi_v1_msgs::msg::VehicleStatus;
   static constexpr char name[] = "/api/vehicle/status";
   static constexpr size_t depth = 1;
-  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_RELIABLE;
+  static constexpr auto reliability = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT;
   static constexpr auto durability = RMW_QOS_POLICY_DURABILITY_VOLATILE;
 };
 

diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp
@@ -15,6 +15,16 @@
 #ifndef AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
 #define AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
 
+#include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int32_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int32_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int64_multi_array_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/int64_stamped.hpp>
+#include <autoware_internal_debug_msgs/msg/string_stamped.hpp>
 #include <tier4_debug_msgs/msg/bool_stamped.hpp>
 #include <tier4_debug_msgs/msg/float32_multi_array_stamped.hpp>
 #include <tier4_debug_msgs/msg/float32_stamped.hpp>
@@ -84,6 +94,58 @@ template <>
 struct is_debug_message<tier4_debug_msgs::msg::StringStamped> : std::true_type
 {
 };
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::BoolStamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float32MultiArrayStamped>
+: std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float32Stamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float64MultiArrayStamped>
+: std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Float64Stamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int32MultiArrayStamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int32Stamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int64MultiArrayStamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::Int64Stamped> : std::true_type
+{
+};
+
+template <>
+struct is_debug_message<autoware_internal_debug_msgs::msg::StringStamped> : std::true_type
+{
+};
 }  // namespace autoware::universe_utils::debug_traits
 
 #endif  // AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_
diff --git a/common/autoware_universe_utils/package.xml b/common/autoware_universe_utils/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
+  <depend>autoware_internal_debug_msgs</depend>
   <depend>autoware_internal_msgs</depend>
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_planning_msgs</depend>

diff --git a/perception/autoware_object_merger/README.md b/perception/autoware_object_merger/README.md
@@ -25,8 +25,16 @@ The successive shortest path algorithm is used to solve the data association pro
 
 ## Parameters
 
+- object association merger
+
 {{ json_to_markdown("perception/autoware_object_merger/schema/object_association_merger.schema.json") }}
+
+- data association matrix
+
 {{ json_to_markdown("perception/autoware_object_merger/schema/data_association_matrix.schema.json") }}
+
+- overlapped judge
+
 {{ json_to_markdown("perception/autoware_object_merger/schema/overlapped_judge.schema.json") }}
 
 ## Tips

diff --git a/perception/autoware_object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json
@@ -2,40 +2,81 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Data Association Matrix Parameters",
   "type": "object",
-  "properties": {
-    "ros__parameters": {
+  "definitions": {
+    "data_association_matrix": {
       "type": "object",
       "properties": {
         "can_assign_matrix": {
           "type": "array",
           "items": {
             "type": "number"
           },
-          "description": "Assignment table for data association"
+          "description": "Assignment table for data association.",
+          "default": [
+            0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 1, 1, 1, 1,
+            0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
+            0, 0, 0, 1, 1, 1
+          ]
         },
         "max_dist_matrix": {
           "type": "array",
           "items": {
             "type": "number"
           },
-          "description": "Maximum distance table for data association"
+          "description": "Maximum distance table for data association.",
+          "default": [
+            4.0, 4.0, 5.0, 5.0, 5.0, 2.0, 2.0, 2.0, 4.0, 2.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0,
+            5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0, 5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 5.0, 5.0,
+            5.0, 5.0, 5.0, 1.0, 1.0, 1.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0,
+            1.0, 1.0, 3.0, 3.0, 3.0, 2.0, 1.0, 1.0, 1.0, 1.0, 3.0, 3.0, 2.0
+          ]
         },
         "max_rad_matrix": {
           "type": "array",
           "items": {
-            "type": "number"
+            "type": "number",
+            "minimum": 0.0
           },
-          "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored."
+          "description": "Maximum angle table for data association. If value is greater than pi, it will be ignored.",
+          "default": [
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15,
+            3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047,
+            1.047, 1.047, 3.15, 3.15, 3.15, 3.15, 1.047, 1.047, 1.047, 1.047, 3.15, 3.15, 3.15,
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15,
+            3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15, 3.15
+          ]
         },
         "min_iou_matrix": {
           "type": "array",
           "items": {
-            "type": "number"
+            "type": "number",
+            "minimum": 0.0
           },
-          "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored."
+          "description": "Minimum IoU threshold matrix for data association. If value is negative, it will be ignored.",
+          "default": [
+            0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.3, 0.2, 0.2, 0.2, 0.1, 0.1, 0.1, 0.1,
+            0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2, 0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.2,
+            0.3, 0.3, 0.3, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1,
+            0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1, 0.1
+          ]
+        }
+      },
+      "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/data_association_matrix"
         }
       },
-      "required": ["can_assign_matrix", "max_dist_matrix", "max_rad_matrix", "min_iou_matrix"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
-  }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
 }
diff --git a/perception/autoware_object_merger/schema/object_association_merger.schema.json b/perception/autoware_object_merger/schema/object_association_merger.schema.json
@@ -45,7 +45,8 @@
         "remove_overlapped_unknown_objects",
         "base_link_frame_id",
         "priority_mode"
-      ]
+      ],
+      "additionalProperties": false
     }
   },
   "properties": {
@@ -56,8 +57,10 @@
           "$ref": "#/definitions/object_association_merger"
         }
       },
-      "required": ["ros__parameters"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
   },
-  "required": ["/**"]
+  "required": ["/**"],
+  "additionalProperties": false
 }
diff --git a/perception/autoware_object_merger/schema/overlapped_judge.schema.json b/perception/autoware_object_merger/schema/overlapped_judge.schema.json
@@ -2,26 +2,45 @@
   "$schema": "http://json-schema.org/draft-07/schema#",
   "title": "Overlapped Judge Parameters",
   "type": "object",
-  "properties": {
-    "ros__parameters": {
+  "definitions": {
+    "overlapped_judge": {
       "type": "object",
       "properties": {
         "distance_threshold_list": {
           "type": "array",
           "items": {
             "type": "number"
           },
-          "description": "Distance threshold for each class used in judging overlap."
+          "description": "Distance threshold for each class used in judging overlap.",
+          "default": [9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0, 9.0]
         },
         "generalized_iou_threshold": {
           "type": "array",
           "items": {
-            "type": "number"
+            "type": "number",
+            "minimum": -1.0,
+            "maximum": 1.0
           },
-          "description": "Generalized IoU threshold for each class."
+          "description": "Generalized IoU threshold for each class.",
+          "default": [-0.1, -0.1, -0.1, -0.6, -0.6, -0.1, -0.1, -0.1]
+        }
+      },
+      "required": ["distance_threshold_list", "generalized_iou_threshold"],
+      "additionalProperties": false
+    }
+  },
+  "properties": {
+    "/**": {
+      "type": "object",
+      "properties": {
+        "ros__parameters": {
+          "$ref": "#/definitions/overlapped_judge"
         }
       },
-      "required": ["distance_threshold_list", "generalized_iou_threshold"]
+      "required": ["ros__parameters"],
+      "additionalProperties": false
     }
-  }
+  },
+  "required": ["/**"],
+  "additionalProperties": false
 }
diff --git a/perception/autoware_occupancy_grid_map_outlier_filter/README.md b/perception/autoware_occupancy_grid_map_outlier_filter/README.md
@@ -40,7 +40,7 @@ The following video is a sample. Yellow points are high occupancy probability, g
 
 ## Parameters
 
-{{ json_to_markdown("perception/occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
+{{ json_to_markdown("perception/autoware_occupancy_grid_map_outlier_filter/schema/occupancy_grid_map_outlier_filter.schema.json") }}
 
 ## Assumptions / Known limits
 

diff --git a/perception/autoware_probabilistic_occupancy_grid_map/README.md b/perception/autoware_probabilistic_occupancy_grid_map/README.md
@@ -21,12 +21,29 @@ You may need to choose `scan_origin_frame` and `gridmap_origin_frame` which mean
 
 ### Parameters
 
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
-{{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
+- binary bayes filter updater
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/binary_bayes_filter_updater.schema.json") }}
+
+- grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/grid_map.schema.json") }}
+
+- laserscan based occupancy grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/laserscan_based_occupancy_grid_map.schema.json") }}
+
+- multi lidar pointcloud based occupancy grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/multi_lidar_pointcloud_based_occupancy_grid_map.schema.json") }}
+
+- pointcloud based occupancy grid map
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/pointcloud_based_occupancy_grid_map.schema.json") }}
+
+- synchronized grid map fusion
+
+  {{ json_to_markdown("perception/autoware_probabilistic_occupancy_grid_map/schema/synchronized_grid_map_fusion_node.schema.json") }}
 
 ### Downsample input pointcloud(Optional)