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Create a sync workflow from node parameter (autoware.universe) to launch parameter (autoware_launch) #201

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kminoda opened this issue Feb 10, 2023 · 2 comments
Open
3 tasks done

Create a sync workflow from node parameter (autoware.universe) to launch parameter (autoware_launch) #201

kminoda opened this issue Feb 10, 2023 · 2 comments
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@kminoda
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kminoda commented Feb 10, 2023

Checklist

  • I've read the contribution guidelines.
  • I've searched other issues and no duplicate issues were found.
  • I've agreed with the maintainers that I can plan this task.

Description

Create a workflow that syncs node parameters in autoware.universe (e.g. ndt_scan_matcher node parameter) to launch parameters in autoware_launch (e.g. ndt_scan_matcher launch parameter).

Purpose

As described in Autoware Documentation, current Autoware has two parameter files: node parameters and launch parameters.

Currently, when you change, add, or remove the node parameter files in autoware.universe, you manually have to apply the same modification on launch parameter files in autoware_launch, if any. By creating a workflow that automates this sync, we can

  • mitigate the cost of implementation
  • mitigate the risk of forgetting applying the change to launch parameter (which may induce a system failure)

Possible approaches

This repository currently has two workflows related to parameter file sync.

  • sync-param-files: sync parameter files based on sync-param-files.yaml
  • update-sync-param-files: update sync-param-files.yaml

The second workflow is created before #66, and it does no longer works correctly. Thus, one possible approach is to modify this update-sync-param-files so that it will create a YAML file that associates node parameter files and launch parameter files automatically (e.g. by reading tier4_**_launch/**.launch.xml)

Definition of done

A workflow that syncs node parameters to launch parameters is introduced.
@kminoda kminoda mentioned this issue Feb 10, 2023
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@kminoda kminoda mentioned this issue Feb 13, 2023
Merged
purewater0901 pushed a commit that referenced this issue Feb 28, 2023
@h-ohta
feat: add system_monitor parameters in sync-files (#201)
1a6058e
badai-nguyen pushed a commit to badai-nguyen/autoware_launch that referenced this issue Mar 23, 2023
@tier4-autoware-private-bot @tkimura4
@rej55 @YamatoAndo @dependabot @kenji-miyake @yabuta @tier4-autoware-public-bot @pre-commit-ci @wep21 @zulfaqar-azmi-t4 @taikitanaka3 @h-ohta @yukkysaito @takayuki5168
sync upstream (autowarefoundation#206)
cb7edec 
* update parameter (autowarefoundation#169)

* Port pure pursuit (autowarefoundation#166)

* Fix control.launch.py

* Apply pre-commit

* Fix control.launch.py

* Change debug topic name in rviz setting

* fix typo in localization util.launch.py (autowarefoundation#168)

* Feature/add covarinace param (autowarefoundation#170)

* add covariance param

* add description

* remove unused param (autowarefoundation#172)

* Bump streetsidesoftware/cspell-action from 1.3.4 to v1 (autowarefoundation#174)

* Bump streetsidesoftware/cspell-action from 1.3.4 to 1.5.0

Bumps [streetsidesoftware/cspell-action](https://github.com/streetsidesoftware/cspell-action) from 1.3.4 to 1.5.0.
- [Release notes](https://github.com/streetsidesoftware/cspell-action/releases)
- [Changelog](https://github.com/streetsidesoftware/cspell-action/blob/main/CHANGELOG.md)
- [Commits](streetsidesoftware/cspell-action@v1.3.4...v1.5.0)

---
updated-dependencies:
- dependency-name: streetsidesoftware/cspell-action
  dependency-type: direct:production
  update-type: version-update:semver-minor
...

Signed-off-by: dependabot[bot] <[email protected]>

* Update spell_check_pr.yml

Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <[email protected]>

* fix: fix hdd_monitor param (autowarefoundation#173)

* add rosbridge launch (autowarefoundation#175)

* add rosbridge launch

* fix TODO document

add link to pull request

Co-authored-by: Kenji Miyake <[email protected]>

* fix double-byte character

Co-authored-by: Kenji Miyake <[email protected]>

* chore: sync files (autowarefoundation#177)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* ci: update CI settings (autowarefoundation#176)

* ci(pre-commit): update .pre-commit-config.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* ci: add sync-files.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* chore: remove old workflows

Signed-off-by: Kenji Miyake <[email protected]>

* ci(sync-upstream): update sync-upstream.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* ci(pre-commit): autofix

* style: fix for yamllint

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* chore: minor update CI settings (autowarefoundation#179)

Signed-off-by: Kenji Miyake <[email protected]>

* [pre-commit.ci] pre-commit autoupdate (autowarefoundation#178)

updates:
- [github.com/pre-commit/pre-commit-hooks: v4.0.1 → v4.1.0](pre-commit/pre-commit-hooks@v4.0.1...v4.1.0)
- [github.com/igorshubovych/markdownlint-cli: v0.29.0 → v0.30.0](igorshubovych/markdownlint-cli@v0.29.0...v0.30.0)
- [github.com/pre-commit/mirrors-prettier: v2.4.1 → v2.5.1](pre-commit/mirrors-prettier@v2.4.1...v2.5.1)
- [github.com/pycqa/isort: 5.9.3 → 5.10.1](PyCQA/isort@5.9.3...5.10.1)
- [github.com/psf/black: 21.9b0 → 22.1.0](psf/black@21.9b0...22.1.0)

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <[email protected]>

* chore: fix CI settings (autowarefoundation#182)

Signed-off-by: Kenji Miyake <[email protected]>

* chore: sync files (autowarefoundation#180)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: sync files (autowarefoundation#184)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* feat: add paricle param (autowarefoundation#181)

Signed-off-by: YamatoAndo <[email protected]>

* chore: sync files (autowarefoundation#185)

* chore: sync files

Signed-off-by: GitHub <[email protected]>

* Update sync-files.yaml

Co-authored-by: kenji-miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* chore: sync files (autowarefoundation#186)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: sync system config (autowarefoundation#187)

Signed-off-by: wep21 <[email protected]>

* chore: sync files (autowarefoundation#189)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: wep21 <[email protected]>

* chore: replace system config in system launch (autowarefoundation#188)

Signed-off-by: wep21 <[email protected]>

* feat: adds additional configuration flags for behavior_path_planner (autowarefoundation#171)

* feat: adds additional configuration flags for behavior_path_planner

The additional configuration is used to allows avoidance over lane with same and
different direction, as well as allows safety margin between linestring and ego.

This is a `.iv` launcher https://github.com/tier4/autoware_launcher/pull/496
port.

Related PR:
autowarefoundation/autoware.universe#285
autowarefoundation/autoware.universe#287

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* Change lateral_collision_margion to 1.0 to reflect changes.

The decision to change the parameter value to 1.0 is made after performing
drivable area experiment at Odaiba areas on 2nd of February 2022 and meeting
between planning control team on 3rd of February 2022.

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* fix: slightly increase the safety buffer.

This increases the shift length to 1.7 + 0.5 * vehicle width.

The decision to increase is based on the discussion between planning team and
also the advice from the FI team.

Signed-off-by: Muhammad Zulfaqar Azmi <[email protected]>

* feat(behavior_velocity): add path marker visualization (autowarefoundation#190)

Signed-off-by: tanaka3 <[email protected]>

* chore: sync files (autowarefoundation#193)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: sync files (autowarefoundation#194)

* chore: sync files

Signed-off-by: GitHub <[email protected]>

* chore: update workflow files name

Signed-off-by: h-ohta <[email protected]>

Co-authored-by: h-ohta <[email protected]>
Co-authored-by: h-ohta <[email protected]>

* chore: sync files (autowarefoundation#195)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: h-ohta <[email protected]>

* feat: lateral controller param (autowarefoundation#191)

* feat: define lat_controller_param_path

* feat: change for trajectory_follower params

* add args for lat_controller_param_path

* chore: fix wrong essential param to optional (autowarefoundation#197)

* fix wrong param line

* move pointcloud_container_name param to optional

* fix: typo extra `>` (autowarefoundation#199)

* Chore arrange perception rviz topics (autowarefoundation#196)

* feat(autoware_launch): add occupancy grid vizualization

Signed-off-by: tanaka3 <[email protected]>

* feat(autoware_launch): add object recognition namespace to rviz

Signed-off-by: tanaka3 <[email protected]>

* fix: delete unused in control_launch (autowarefoundation#200)

* fix: delete unused in control.launch.py

* fix: delete velocity_controller.param.yaml

* feat: add system_monitor parameters in sync-files (autowarefoundation#201)

* chore: sync files (autowarefoundation#202)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: h-ohta <[email protected]>

* chore: sync files (autowarefoundation#203)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* chore: update settings of sync-files (autowarefoundation#204)

Signed-off-by: Kenji Miyake <[email protected]>

* feat(control_launch): remove unnecessary params (autowarefoundation#206)

Signed-off-by: Takayuki Murooka <[email protected]>

* chore: sync files (autowarefoundation#208)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* feat(atutoware.rviz): disable selectable for pointcloud visualization (autowarefoundation#207)

Signed-off-by: YamatoAndo <[email protected]>

* chore: sync files (autowarefoundation#212)

Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>

* delete vehicle parameters in longitudinal_controller.param.yaml

* apply pre-commit

* remove unused file

* update sync-param-files.yaml

* disable local_external_control in system_error_montitor_psim

Co-authored-by: Tomoya Kimura <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: YamatoAndo <[email protected]>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: yabuta <[email protected]>
Co-authored-by: tier4-autoware-bot[bot] <98652886+tier4-autoware-bot[bot]@users.noreply.github.com>
Co-authored-by: kenji-miyake <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: wep21 <[email protected]>
Co-authored-by: Zulfaqar Azmi <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com>
Co-authored-by: h-ohta <[email protected]>
Co-authored-by: h-ohta <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
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stale bot commented Apr 11, 2023

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the stale label Apr 11, 2023
tkimura4 pushed a commit to tkimura4/autoware_launch that referenced this issue Sep 8, 2023
@tier4-autoware-public-bot
Merge pull request autowarefoundation#201 from tier4/sync-awf-upstream
17f6ba2 
chore: sync awf/autoware_launch
badai-nguyen pushed a commit to badai-nguyen/autoware_launch that referenced this issue Oct 31, 2023
style: reword prompts (autowarefoundation#201)
77cf205 
* style: reword prompts

* revert N

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
@xmfcx xmfcx added status:stale and removed stale labels Jul 5, 2024
@stale stale bot removed the status:stale label Jul 5, 2024
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stale bot commented Sep 5, 2024

This pull request has been automatically marked as stale because it has not had recent activity.

@stale stale bot added the status:stale label Sep 5, 2024
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