OpenPlanner - Utilities

op_bag_player

OpeGL based rosbag file player, it enable frame by frame playing, but only supports 3 types of topics (lidar data point cloud, current pose, image)

Outputs

publish topics for points_raw, ndt_pose, and image_raw

Options

• play data forward (space)
• pause (space)
• step forward by one frame (up button)
• step backwards by one frame (down button)
• exit (Esc button)

Requirements

1. rosbag path with /pose, /lidar and /image topics recorded

How to launch

• From a sourced terminal:

roslaunch op_utilities op_bag_player.launch

• From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Utilities -> op_bag_player

Parameters

• rosbag file path

Subscriptions/Publications

Publications: 
 * /points_raw [sensor_msgs::PointCloud2]
 * /ndt_pose [geometry_msgs::PoseStamped]
 * /image_raw [sensor_msgs::Image]

Subscriptions: 
 

op_pose2tf

This node recieve ndt_pose and publish current pose TF to the autoware system. so we don’t need to run ndt_matching again.

Outputs

pose TF

Requirements

1. ndt_pose topic is published

How to launch

• From a sourced terminal:

roslaunch op_utilities op_pose2tf.launch

• From Runtime Manager:

Computing Tab -> Motion Planning -> OpenPlanner - Utilities -> op_pose2tf

Parameters

• ndt_pose topic name

Changelog for package op_utilities

1.11.0 (2019-03-21)

• [fix] Install commands for all the packages (#1861)
  • Initial fixes to detection, sensing, semantics and utils
  • fixing wrong filename on install command
  • Fixes to install commands
  • Hokuyo fix name
  • Fix obj db
  • Obj db include fixes
  • End of final cleaning sweep
  • Incorrect command order in runtime manager
  • Param tempfile not required by runtime_manager
  • • Fixes to runtime manager install commands
  • Remove devel directory from catkin, if any
  • Updated launch files for robosense
  • Updated robosense
  • Fix/add missing install (#1977)
  • Added launch install to lidar_kf_contour_track
  • Added install to op_global_planner
  • Added install to way_planner
  • Added install to op_local_planner
  • Added install to op_simulation_package
  • Added install to op_utilities
  • Added install to sync
  • • Improved installation script for pointgrey packages
  • Fixed nodelet error for gmsl cameras
  • USe install space in catkin as well
  • add install to catkin
  • Fix install directives (#1990)
  • Fixed installation path
  • Fixed params installation path
  • Fixed cfg installation path
  • Delete cache on colcon_release
• Fix license notice in corresponding package.xml
• Contributors: Abraham Monrroy Cano, amc-nu

1.10.0 (2019-01-17)

• Switch to Apache 2 license (develop branch) (#1741)
  • Switch to Apache 2

  * Replace BSD-3 license header with Apache 2 and reassign copyright to the Autoware Foundation.

  • Update license on Python files
  • Update copyright years
  • Add #ifndef/define _POINTS_IMAGE_H_
  • Updated license comment
• Use colcon as the build tool (#1704)
  • Switch to colcon as the build tool instead of catkin
  • Added cmake-target
  • Added note about the second colcon call
  • Added warning about catkin* scripts being deprecated
  • Fix COLCON_OPTS
  • Added install targets
  • Update Docker image tags
  • Message packages fixes
  • Fix missing dependency
• Fix Ros/ROS naming convention
• Contributors: Esteve Fernandez

1.9.1 (2018-11-06)

1.9.0 (2018-10-31)

• [fix] PascalCase messages (#1408)
  • Switch message files to pascal case
  • Switch message names to pascal case in Runtime Manager
  • Switch message names to pascal case in *.yaml
  • Rename brake_cmd and steer_cmd to BrakeCmd and SteerCmd in main.yaml
• Feature/beyond pixel tracker (#1473)
  • Add beyond_pixel node
  • Update prototype of beyond pixel (#1430)
  • Add parser of DetectedObjectArray for beyond tracker(#1430)
  • • Adaptations to the original code
  • Added README
  • Added Runtime Manager entry
  • Added Video link
  • Added install commands for cmake
  • • Add ID only to tracked objects
  • Display valid IDs on the 3D labels
  • Display only objects with image coords
  • • Added Minimum dimensions
  • Register angle from the vision tracker if available
  • Keep message publishing rate continuous
  • Revert platform_automation_msgs (#1498)
  • Code cleanup
  • Fixed a crash when the dimensions are outside of the image
  • Fix annoying catkin_make causing to run twice the Cmake generation
• Contributors: Abraham Monrroy, Esteve Fernandez

1.8.0 (2018-08-31)

• Support old behavior of insert static object for obstacle avoidance testing Only one simulated car available in the runtime manager update for copywrite note insert autoware_build_flags to new nodes
• Update README.md
• Add README files for OpenPlanner packages
• Modify Map loading for OpenPlanner, now it reads from Autoware vector map messages, old behavior still works but from launch file only. Delete way_planner, dp_planner from UI, but they still accessible from roslaunch.
• Update op_utility files for csv files loading Update MappingHelpers with latest modifications Update PlanningHelpers with latest modifications add op_common_param node, for setting OpenPlanner parameter for all related nodes such as lidar_kf_contour_track Improve tracking by including size different in association function Update way_planner, dp_planner for compatibility with new Mapping Modifications, Map format is backward compatible
• Update OpenPlanner libraries (op_planner, op_utitity, op_ros_helpers) Update ring ground filter with latest implementation Update lidar_kf_contour_track with latest implementation Add op_utilities nodes (op_bag_player, op_data_logger, op_pose2tf) Modify autoware_msgs for OpenPlanner use (CloudCluster, DetectedObject, lane, waypoint) Update UI computing.yaml for the new nodes and modifies parameters Update UI sensing.yaml for updated ring_ground_filter params
• Contributors: Hatem Darweesh, hatem-darweesh