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feat: add tools to collect and check average TPs of PCD maps #213

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feat: add tools to collect and check average TPs of PCD maps #213

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anhnv3991
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@anhnv3991 anhnv3991 commented Feb 24, 2025 •
edited by Motsu-san
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Description

  • Add a tool to collect average TPs of PCD map segments
  • Add a tool to visualize the average TPs of PCD map segments to rviz2
  • Add a tool to compare a rosbag TPs with a map's TPs and display the map areas where there are significant TP difference between the rosbag's TPs and the map's TPs

How was this PR tested?

  • Please see README.
  • Create TP file (.csv) with the old rosbag and pcd map by TP_collector
  • Evaluate the new rosbag that has same route to old one and some changes of shape characteristic by TP_checker.
  • Check the result that shows the segment where the shape characteristic changes.

Notes for reviewers

None.

Effects on system behavior

None.

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github-actions bot commented Feb 24, 2025 •
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Thank you for contributing to the Autoware project!

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Please ensure:

pre-commit-ci bot and others added 22 commits February 24, 2025 08:57
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Merge branch 'autowarefoundation:main' into feature/average_tp_collector
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Make TP checker check poses instead of segments
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Move parameters of point cloud divider to xml files
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Use range query to search for segments when scan topic is not available
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Change range to query_range and radius to avoid shadowing python's bu…
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…ilt-in variable

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Mark changed segments passed by the vehicle
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@Motsu-san
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@anhnv3991 Thank you for your pull-request!
I updated the test procedure of the description. If there is something wrong, please modify it.

Motsu-san
Motsu-san reviewed Mar 12, 2025
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@anhnv3991 The change regarding pointcloud_divider is only to follow the latest in the README and the launch file, so there is no need to change the way we use the tool before and after the change, right?

Motsu-san
Motsu-san requested changes Mar 12, 2025
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map/autoware_tp_manager/package.xml

<buildtool_depend>ament_cmake_auto</buildtool_depend>
<buildtool_depend>autoware_cmake</buildtool_depend>
<buildtool_depend>tier4_debug_msgs</buildtool_depend>
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@Motsu-san Motsu-san Mar 12, 2025 •
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I would like to have it made with autoware_internal_debug_msgs instead of tier4_debug_msgs as much as possible, are there any restrictions?

map/autoware_tp_manager/README.md

- TP collector: collect the average TPs per segment of a PCD map
- TP checker: compare a rosbag's TPs with a map's TPs and highlight the map areas where the rosbag's TPs differ significantly from the map's TPs.

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Could you add the python requirements?

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@Motsu-san

@anhnv3991 The change regarding pointcloud_divider is only to follow the latest in the README and the launch file, so there is no need to change the way we use the tool before and after the change, right?

Yes, we can still use pointcloud_divider like before. I just move parameters to the launch file to give us more flexibility to interract with this pointcloud_divider from the other programs.

TaikiYamada4
TaikiYamada4 reviewed Mar 12, 2025
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@anhnv3991
The LICENSE file says BSD 3-Clause but the python scripts say Apache-2.0. Is that OK?

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@TaikiYamada4 TaikiYamada4 TaikiYamada4 left review comments

@Motsu-san Motsu-san Motsu-san requested changes

@YamatoAndo YamatoAndo Awaiting requested review from YamatoAndo

@SakodaShintaro SakodaShintaro Awaiting requested review from SakodaShintaro

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@anhnv3991 @Motsu-san @TaikiYamada4