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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>]
    Name Description
    path_to_pcd_dir Directory that contains the input PCD files
    path_to_rosbag Path to the input rosbag
    path_to_output_dir Path to the output directory
    resolution Resolution to segment the input PCD. The TPs are collected on these segments
    topic_of_poses Topic of poses messages in the input rosbag
    topic_of_TPs Topic of TPs in the input rosbag
    topic_of_scans Topic of downsampled scans in the input rosbag

    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>
    Name Description
    path_to_output_dir Path to the output directory of TP_collector

    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>]
    Name Description
    path_to_score_dir Directory that contains the TP file (.csv) and the downsampled PCD map. This is the output directory of the tp_collector.
    path_to_rosbag Path to the input rosbag to be evaluated
    topic_of_poses Topic of poses in the evaluation rosbag
    topic_of_TPs Topic of TPs in the evaluation rosbag
    topic_of_scans Topic of scans in the evaluation rosbag
    radius The radius to query map segments in vicinity of poses. This is used when scan data is not available in the rosbag.
    drop_num When the number of continuous low-TP poses exceeds this number, the tool stops checking because the localization is not reliable anymore

    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#

Name Type Description Default Range
path_to_pcd_dir string The path to the directory containing the input PCD files N/A
path_to_rosbag string The path to the input rosbag N/A
path_to_output_dir string The path to the output directory N/A
resolution float Resolution to segment the input PCD. The TPs are collected on these segments. 5,0 N/A
pose_topic string Topic of poses messages in the input rosbag /localization/pose_twist_fusion_filter/pose_with_covariance_without_yawbias N/A
tp_topic string Topic of TPs in the input rosbag /localization/pose_estimator/transform_probability N/A
scan_topic string Topic of downsampled scans in the input rosbag /localization/util/downsample/pointcloud N/A

LICENSE#

This package is under Apache License 2.0