From 24db2a733a77a0c14117f816ba76efb1c0d225af Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Mon, 22 Jul 2024 15:01:11 +0900 Subject: [PATCH] chore: update launch argument (#3) --- docs/use_case/annotationless_perception.en.md | 6 +++++- docs/use_case/annotationless_perception.ja.md | 6 +++++- docs/use_case/ar_tag_based_localizer.en.md | 2 ++ docs/use_case/ar_tag_based_localizer.ja.md | 2 ++ docs/use_case/eagleye.en.md | 2 ++ docs/use_case/eagleye.ja.md | 2 ++ docs/use_case/localization.en.md | 2 ++ docs/use_case/localization.ja.md | 2 ++ docs/use_case/perception.en.md | 5 ++++- docs/use_case/perception.ja.md | 5 ++++- docs/use_case/perception_2d.en.md | 5 ++++- docs/use_case/perception_2d.ja.md | 5 ++++- docs/use_case/performance_diag.en.md | 6 +++++- docs/use_case/performance_diag.ja.md | 6 +++++- docs/use_case/traffic_light.en.md | 5 ++++- docs/use_case/traffic_light.ja.md | 6 ++++-- docs/use_case/yabloc.en.md | 2 ++ docs/use_case/yabloc.ja.md | 2 ++ log_evaluator/log_evaluator/launch_config.py | 2 ++ 19 files changed, 62 insertions(+), 11 deletions(-) diff --git a/docs/use_case/annotationless_perception.en.md b/docs/use_case/annotationless_perception.en.md index 85528f34..c2bdee40 100644 --- a/docs/use_case/annotationless_perception.en.md +++ b/docs/use_case/annotationless_perception.en.md @@ -194,7 +194,11 @@ The following parameters are set to `false`: - perception: true - planning: false - control: false -- sensing: false / true (default false, set by launch argument) +- use_perception_online_evaluator: true + +### Arguments specified in the scenario or launch command + +- sensing: It can be disabled by specifying LaunchSensing: false in the scenario. Or specify sensing:=false in the launch command ### How to specify the sensing argument diff --git a/docs/use_case/annotationless_perception.ja.md b/docs/use_case/annotationless_perception.ja.md index 806aa5d3..5968c96f 100644 --- a/docs/use_case/annotationless_perception.ja.md +++ b/docs/use_case/annotationless_perception.ja.md @@ -193,7 +193,11 @@ autoware の処理を軽くするため、評価に関係のないモジュー - perception: true - planning: false - control: false -- sensing: false / true (デフォルト false、launch引数で与える) +- use_perception_online_evaluator: true + +### シナリオまたはlaunchコマンドで指定する引数 + +- sensing: シナリオにLaunchSensing: falseを指定することで無効化できる。またはlaunchコマンドでsensing:=falseを指定する ### sensingの引数指定方法 diff --git a/docs/use_case/ar_tag_based_localizer.en.md b/docs/use_case/ar_tag_based_localizer.en.md index d2ce3d7c..5b0d9e90 100644 --- a/docs/use_case/ar_tag_based_localizer.en.md +++ b/docs/use_case/ar_tag_based_localizer.en.md @@ -58,6 +58,8 @@ The following parameters are set to `false`: - perception: false - planning: false - control: false +- pose_source: artag +- twist_source: gyro_odom ## About simulation diff --git a/docs/use_case/ar_tag_based_localizer.ja.md b/docs/use_case/ar_tag_based_localizer.ja.md index c12fc6ef..04ec5b2c 100644 --- a/docs/use_case/ar_tag_based_localizer.ja.md +++ b/docs/use_case/ar_tag_based_localizer.ja.md @@ -59,6 +59,8 @@ autoware の処理を軽くするため、評価に関係のないモジュー - perception: false - planning: false - control: false +- pose_source: artag +- twist_source: gyro_odom ## simulation diff --git a/docs/use_case/eagleye.en.md b/docs/use_case/eagleye.en.md index 728ecc8a..b83f49d8 100644 --- a/docs/use_case/eagleye.en.md +++ b/docs/use_case/eagleye.en.md @@ -57,6 +57,8 @@ The following parameters are set to `false`: - perception: false - planning: false - control: false +- pose_source: eagleye +- twist_source: eagleye ## About simulation diff --git a/docs/use_case/eagleye.ja.md b/docs/use_case/eagleye.ja.md index d95cf6d8..8878e2dc 100644 --- a/docs/use_case/eagleye.ja.md +++ b/docs/use_case/eagleye.ja.md @@ -66,6 +66,8 @@ autoware の処理を軽くするため、評価に関係のないモジュー - perception: false - planning: false - control: false +- pose_source: eagleye +- twist_source: eagleye ## simulation diff --git a/docs/use_case/localization.en.md b/docs/use_case/localization.en.md index 0a56224d..b1fc8153 100644 --- a/docs/use_case/localization.en.md +++ b/docs/use_case/localization.en.md @@ -114,6 +114,8 @@ The following parameters are set to `false`: - perception: false - planning: false - control: false +- pose_source: ndt +- twist_source: gyro_odom ## About simulation diff --git a/docs/use_case/localization.ja.md b/docs/use_case/localization.ja.md index d2edfd7e..6024658a 100644 --- a/docs/use_case/localization.ja.md +++ b/docs/use_case/localization.ja.md @@ -113,6 +113,8 @@ autoware の処理を軽くするため、評価に関係のないモジュー - perception: false - planning: false - control: false +- pose_source: ndt +- twist_source: gyro_odom ## simulation diff --git a/docs/use_case/perception.en.md b/docs/use_case/perception.en.md index 6aa97d9a..6503c5a9 100644 --- a/docs/use_case/perception.en.md +++ b/docs/use_case/perception.en.md @@ -140,10 +140,13 @@ The following parameters are set to `false`: - localization: false - planning: false - control: false -- sensing: false / true (default value is false. Specify by `LaunchSensing` key for each t4_dataset in the scenario) **NOTE: The `tf` in the bag is used to align the localization during annotation and simulation. Therefore, localization is invalid.** +### Arguments specified in the scenario or launch command + +- sensing: It can be disabled by specifying LaunchSensing: false in the scenario. Or specify sensing:=false in the launch command + ## Dependent libraries The perception evaluation step bases on the [perception_eval](https://github.com/tier4/autoware_perception_evaluation) library. diff --git a/docs/use_case/perception.ja.md b/docs/use_case/perception.ja.md index ee054a70..0e7cee5f 100644 --- a/docs/use_case/perception.ja.md +++ b/docs/use_case/perception.ja.md @@ -135,10 +135,13 @@ autoware の処理を軽くするため、評価に関係のないモジュー - localization: false - planning: false - control: false -- sensing: false / true (デフォルト false、シナリオの `LaunchSensing` キーで t4_dataset 毎に指定する) **注:アノーテション時とシミュレーション時で自己位置を合わせたいので bag に入っている tf を使い回す。そのため localization は無効である。** +### シナリオまたはlaunchコマンドで指定する引数 + +- sensing: シナリオにLaunchSensing: falseを指定することで無効化できる。またはlaunchコマンドでsensing:=falseを指定する + ## 依存ライブラリ 認識機能の評価は[perception_eval](https://github.com/tier4/autoware_perception_evaluation)に依存している。 diff --git a/docs/use_case/perception_2d.en.md b/docs/use_case/perception_2d.en.md index 28b95286..11b021a8 100644 --- a/docs/use_case/perception_2d.en.md +++ b/docs/use_case/perception_2d.en.md @@ -168,11 +168,14 @@ The following parameters are set to `false`: - localization: false - planning: false - control: false -- sensing: false / true (default value is false. Specify by `LaunchSensing` key for each t4_dataset in the scenario) - perception_mode: camera_lidar_fusion **NOTE: The `tf` in the bag is used to align the localization during annotation and simulation. Therefore, localization is invalid.** +### Arguments specified in the scenario or launch command + +- sensing: It can be disabled by specifying LaunchSensing: false in the scenario. Or specify sensing:=false in the launch command + ## Dependent libraries The perception evaluation step bases on the [perception_eval](https://github.com/tier4/autoware_perception_evaluation) library. diff --git a/docs/use_case/perception_2d.ja.md b/docs/use_case/perception_2d.ja.md index 1c8c31d2..8257d203 100644 --- a/docs/use_case/perception_2d.ja.md +++ b/docs/use_case/perception_2d.ja.md @@ -168,11 +168,14 @@ autoware の処理を軽くするため、評価に関係のないモジュー - localization: false - planning: false - control: false -- sensing: false / true (デフォルト false、シナリオの `LaunchSensing` キーで t4_dataset 毎に指定する) - perception_mode: camera_lidar_fusion **注:アノーテション時とシミュレーション時で自己位置を合わせたいので bag に入っている tf を使い回す。そのため localization は無効である。** +### シナリオまたはlaunchコマンドで指定する引数 + +- sensing: シナリオにLaunchSensing: falseを指定することで無効化できる。またはlaunchコマンドでsensing:=falseを指定する + ## 依存ライブラリ 認識機能の評価は[perception_eval](https://github.com/tier4/autoware_perception_evaluation)に依存している。 diff --git a/docs/use_case/performance_diag.en.md b/docs/use_case/performance_diag.en.md index 38710e39..327baa1d 100644 --- a/docs/use_case/performance_diag.en.md +++ b/docs/use_case/performance_diag.en.md @@ -89,9 +89,13 @@ Published topics: To make Autoware processing less resource-consuming, modules that are not relevant to evaluation are disabled by passing the `false` parameter as a launch argument. The following parameters are set to `false`: +- perception: false - planning: false - control: false -- localization: false / true (default value is false. Specify in scenario) + +### Arguments specified in the scenario or launch command + +- localization: It can be disabled by specifying LaunchLocalization: false in the scenario. Or specify localization:=false in the launch command ## About simulation diff --git a/docs/use_case/performance_diag.ja.md b/docs/use_case/performance_diag.ja.md index 5103ea20..d5cd6809 100644 --- a/docs/use_case/performance_diag.ja.md +++ b/docs/use_case/performance_diag.ja.md @@ -88,9 +88,13 @@ Published topics: autoware の処理を軽くするため、評価に関係のないモジュールは launch の引数に false を渡すことで無効化する。以下を設定している。 +- perception: false - planning: false - control: false -- localization: false / true (デフォルト false、シナリオで指定する) + +### シナリオまたはlaunchコマンドで指定する引数 + +- localization: シナリオにLaunchLocalization: falseを指定することで無効化できる。またはlaunchコマンドでlocalization:=falseを指定する ## simulation diff --git a/docs/use_case/traffic_light.en.md b/docs/use_case/traffic_light.en.md index f50bef88..aea42cdb 100644 --- a/docs/use_case/traffic_light.en.md +++ b/docs/use_case/traffic_light.en.md @@ -116,11 +116,14 @@ The following parameters are set to `false`: - localization: false - planning: false - control: false -- sensing: false / true (default value is false. Specify by `LaunchSensing` key for each t4_dataset in the scenario) - perception_mode: camera_lidar_fusion **NOTE: The `tf` in the bag is used to align the localization during annotation and simulation. Therefore, localization is invalid.** +### Arguments specified in the scenario or launch command + +- sensing: It can be disabled by specifying LaunchSensing: false in the scenario. Or specify sensing:=false in the launch command + ## Dependent libraries The perception evaluation step bases on the [perception_eval](https://github.com/tier4/autoware_perception_evaluation) library. diff --git a/docs/use_case/traffic_light.ja.md b/docs/use_case/traffic_light.ja.md index fd11afdd..fb549c0f 100644 --- a/docs/use_case/traffic_light.ja.md +++ b/docs/use_case/traffic_light.ja.md @@ -121,11 +121,13 @@ autoware の処理を軽くするため、評価に関係のないモジュー - localization: false - planning: false - control: false -- sensing: false / true (デフォルト false、シナリオの `LaunchSensing` キーで t4_dataset 毎に指定する) -- perception_mode: camera_lidar_fusion **注:アノーテション時とシミュレーション時で自己位置を合わせたいので bag に入っている tf を使い回す。そのため localization は無効である。** +### シナリオまたはlaunchコマンドで指定する引数 + +- sensing: シナリオにLaunchSensing: falseを指定することで無効化できる。またはlaunchコマンドでsensing:=falseを指定する + ## 依存ライブラリ 認識機能の評価は[perception_eval](https://github.com/tier4/autoware_perception_evaluation)に依存している。 diff --git a/docs/use_case/yabloc.en.md b/docs/use_case/yabloc.en.md index 2f284e0e..b76c677d 100644 --- a/docs/use_case/yabloc.en.md +++ b/docs/use_case/yabloc.en.md @@ -57,6 +57,8 @@ The following parameters are set to `false`: - perception: false - planning: false - control: false +- pose_source: yabloc +- twist_source: gyro_odom ## About simulation diff --git a/docs/use_case/yabloc.ja.md b/docs/use_case/yabloc.ja.md index 1f8cd713..618ee8a7 100644 --- a/docs/use_case/yabloc.ja.md +++ b/docs/use_case/yabloc.ja.md @@ -66,6 +66,8 @@ autoware の処理を軽くするため、評価に関係のないモジュー - perception: false - planning: false - control: false +- pose_source: yabloc +- twist_source: gyro_odom ## simulation diff --git a/log_evaluator/log_evaluator/launch_config.py b/log_evaluator/log_evaluator/launch_config.py index 365e4df3..ff72b06d 100644 --- a/log_evaluator/log_evaluator/launch_config.py +++ b/log_evaluator/log_evaluator/launch_config.py @@ -187,6 +187,8 @@ ANNOTATIONLESS_PERCEPTION_AUTOWARE_ARGS = { "localization": "false", + "planning": "false", + "control": "false", "use_perception_online_evaluator": "true", }