autoware_tp_manager

Here are some Python tools for collecting average TPs of PCD maps. Currently, we consider the decrease of TPs as a sign of map decay. However, we don’t know what TPs are ‘abnormal’, e.g. in some areas the TPs range around 2.0 ~ 3.0, while in others TPs float around 5.0. This package provides some tools to check it, including:

• 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.

Installation

cd <PATH_TO_pilot-auto.*> # OR <PATH_TO_autoware>
cd src/
git clone git@github.com:autowarefoundation/autoware_tools.git
cd ..
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-skip-building-tests --symlink-install --packages-up-to autoware_tp_manager

Usage

• Collect the average TPs per segment from a map by TP_collector

  ros2 run autoware_tp_manager tp_collector.py <path_to_pcd_dir> <path_to_rosbag> <path_to_output_dir> [--resolution <resolution>] [--pose_topic <topic_of_poses>] [--tp_topic <topic_of_TPs>] [--scan_topic <topic_of_scans>]
  

Paths to folders should be specified as absolute paths.

The rosbag should contain the following topics

• /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias
• /localization/pose_estimator/transform_probability
• /localization/util/downsample/pointcloud

The average TPs can be visualized on Rviz2 by running the following command

  python3 install/autoware_tp_manager/lib/autoware_tp_manager/tp_visualizer.py <path_to_output_dir>
  

then open another terminal to launch Rviz2 and add the topic /autoware_tp_visualizer.

• Compare a rosbags’ TPs with a map’s TPs by TP_checker

  ros2 run autoware_tp_manager tp_checker.py <path_to_score_dir> <path_to_rosbag> [--pose_topic <topic_of_poses>] [--tp_topic <topic_of_TPs>] [--scan_topic <topic_of_scans>] [--radius <radius>] [--drop_num <drop_num>]
  

The results of checking are published to the topic /autoware_tp_checker, and can also be displayed on Rviz2. The red points

• The rosbags used for both TP collector and TP checker is created by running Autoware’s logging simulator and record the following three topics:
  • /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias [optional]
  • /localization/pose_estimator/transform_probability
  • /localization/util/downsample/pointcloud

Parameter

{{ json_to_markdown(“map/autoware_tp_manager/schema/tp_manager.schema.json”) }}

LICENSE

This package is under Apache License 2.0