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Enable Traffic light module #154

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merged 14 commits into from
Feb 19, 2025
Merged

Enable Traffic light module #154

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3778700
download traffic light models
habby1012 Jan 25, 2025
a0b97f7
config camera position and angle
habby1012 Jan 25, 2025
837452a
use traffic light module
habby1012 Jan 25, 2025
7a1bbbf
prebuild traffic light classifier models
habby1012 Jan 25, 2025
cbf0546
add build_only when prebuilding traffic light classifier models
habby1012 Jan 25, 2025
13fd5b8
modify env.sh - Use correct traffic light topic for traffic light rec…
habby1012 Feb 3, 2025
944637a
Add a script, which runs traffic light module
habby1012 Feb 17, 2025
eedcfcc
Add some parameters for traffic light module
habby1012 Feb 17, 2025
8c3396d
download traffic light map
habby1012 Feb 17, 2025
2c42736
merge main
habby1012 Feb 17, 2025
1f773c5
zenoh carla bridge new commit
habby1012 Feb 17, 2025
68d0796
use new zenoh carla bridge submodule
habby1012 Feb 17, 2025
c18c929
Add comment in traffic light launch script
habby1012 Feb 18, 2025
39656b5
Create autoware_traffic_light.rst
habby1012 Feb 19, 2025
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4 changes: 4 additions & 0 deletions env.sh
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Expand Up @@ -44,6 +44,10 @@ else # zenoh-bridge-ros2dds & Autoware
export ROS_LOCALHOST_ONLY=1
sudo ip link set lo multicast on # Enable multicast for DDS

# Require the traffic_light node to use the correct topic for traffic light recognition.
if ! grep -q '<arg name="namespace1" value="traffic_light"/>' /opt/autoware/share/tier4_perception_launch/launch/perception.launch.xml; then
sudo sed -i '/<include file="$(find-pkg-share tier4_perception_launch)\/launch\/traffic_light_recognition\/traffic_light.launch.xml">/a\ <arg name="namespace1" value="traffic_light"/>' /opt/autoware/share/tier4_perception_launch/launch/perception.launch.xml
fi
fi

# Able to access binary after pip install
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16 changes: 16 additions & 0 deletions script/build_models.sh
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Expand Up @@ -23,3 +23,19 @@ ros2 launch autoware_lidar_transfusion lidar_transfusion.launch.xml \
model_path:=$AUTOWARE_CARLA_ROOT/autoware_data/lidar_transfusion \
model_param_path:=$(ros2 pkg prefix autoware_launch --share)/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml \
build_only:=true

# traffic light (car)
ros2 launch autoware_traffic_light_classifier traffic_light_classifier.launch.xml \
car_traffic_light_classifier_label_name:=traffic_light_classifier_mobilenetv2_batch_6 \
car_traffic_light_classifier_model_name:=traffic_light_classifier_mobilenetv2_batch_6 \
traffic_light_classifier_model_path:=$AUTOWARE_CARLA_ROOT/autoware_data/traffic_light_classifier \
traffic_light_classifier_param_path:=$(ros2 pkg prefix autoware_traffic_light_classifier --share)/config/car_traffic_light_classifier.param.yaml \
build_only:=true

# traffic light (pedestrian)
ros2 launch autoware_traffic_light_classifier traffic_light_classifier.launch.xml \
pedestrian_traffic_light_classifier_label_name:=ped_traffic_light_classifier_mobilenetv2_batch_4 \
pedestrian_traffic_light_classifier_model_name:=ped_traffic_light_classifier_mobilenetv2_batch_4 \
traffic_light_classifier_model_path:=$AUTOWARE_CARLA_ROOT/autoware_data/traffic_light_classifier \
traffic_light_classifier_param_path:=$(ros2 pkg prefix autoware_traffic_light_classifier --share)/config/pedestrian_traffic_light_classifier.param.yaml \
build_only:=true
4 changes: 2 additions & 2 deletions script/download_map.sh
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Expand Up @@ -13,8 +13,8 @@ fi

if [ ! -f "$MAP_PATH/lanelet2_map.osm" ] || [ ! -f "$MAP_PATH/pointcloud_map.pcd" ] || [ ! -f "$MAP_PATH/map_projector_info.yaml" ]; then
echo "Download map from Internet..."
gdown --fuzzy -O $MAP_PATH/lanelet2_map.osm https://drive.google.com/file/d/1CMfWin62qIEqQbcIQ6UfplztZDjMBKD6/view
gdown --fuzzy -O $MAP_PATH/lanelet2_map.osm https://drive.google.com/file/d/1eTuRuXWCLHzunwD11zgDahIjVrKLpv__/view
gdown --fuzzy -O $MAP_PATH/pointcloud_map.pcd https://drive.google.com/file/d/1MvJlfjkw3LWFUs5hdE_KQ2_CQTusU8UN/view
gdown --fuzzy -O $MAP_PATH/map_projector_info.yaml https://drive.google.com/file/d/1h1me3TXSoTBL86S94QKlkwSpwUeZXv2J/view
gdown --fuzzy -O $MAP_PATH/map_projector_info.yaml https://drive.google.com/file/d/1Nl3NsDADGQliMgjk7_En5Fc14ja7sIZF/view
echo "Download complete"
fi
22 changes: 22 additions & 0 deletions script/download_models.sh
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Expand Up @@ -44,6 +44,28 @@ declare -A models=(
https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.onnx \
https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/yolox-sPlus-opt-pseudoV2-T4-960x960-T4-seg16cls.EntropyV2-calibration.table \
https://awf.ml.dev.web.auto/perception/models/object_detection_semseg_yolox_s/v1/semseg_color_map.csv"

["traffic_light_classifier"]="\
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_1.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_4.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_mobilenetv2_batch_6.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_1.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_4.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/traffic_light_classifier_efficientNet_b1_batch_6.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/ped_traffic_light_classifier_mobilenetv2_batch_1.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/ped_traffic_light_classifier_mobilenetv2_batch_4.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/ped_traffic_light_classifier_mobilenetv2_batch_6.onnx \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v2/lamp_labels.txt \
https://awf.ml.dev.web.auto/perception/models/traffic_light_classifier/v3/lamp_labels_ped.txt"

["traffic_light_fine_detector"]="\
https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_car_ped_yolox_s_batch_1.onnx \
https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_car_ped_yolox_s_batch_4.onnx \
https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_car_ped_yolox_s_batch_6.onnx \
https://awf.ml.dev.web.auto/perception/models/tlr_yolox_s/v3/tlr_labels.txt"

["tvm_utility"]="\
https://autoware-modelzoo.s3.us-east-2.amazonaws.com/models/3.0.0-20221221/yolo_v2_tiny-x86_64-llvm-3.0.0-20221221.tar.gz"
)

# Function for download models
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26 changes: 26 additions & 0 deletions script/run-autoware-traffic-light.sh
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@@ -0,0 +1,26 @@
#!/usr/bin/env bash
set -e

export VEHICLE_NAME="${1:-v1}"
export ZENOH_CARLA_IP_PORT="${2:-'127.0.0.1:7447'}"
export ZENOH_FMS_IP_PORT="${3:-'127.0.0.1:7887'}"

# Add default port for Zenoh IP in Carla and FMS
if [[ ${ZENOH_CARLA_IP_PORT} != *":"* ]]; then
export ZENOH_CARLA_IP_PORT="${ZENOH_CARLA_IP_PORT}:7447"
fi
if [[ ${ZENOH_FMS_IP_PORT} != *":"* ]]; then
export ZENOH_FMS_IP_PORT="${ZENOH_FMS_IP_PORT}:7887"
fi

# Log folder
LOG_PATH=autoware_log/`date '+%Y-%m-%d_%H:%M:%S'`/
mkdir -p ${LOG_PATH}

# Run the program
parallel --verbose --lb ::: \
"ros2 launch autoware_carla_launch autoware_zenoh.launch.xml is_simulation:=false use_traffic_light_recognition:=true \
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I forgot why we need is_simulation:=false. Could you please add the comment here?

2>&1 | tee ${LOG_PATH}/autoware.log" \
"${AUTOWARE_CARLA_ROOT}/external/zenoh-plugin-ros2dds/target/release/zenoh-bridge-ros2dds \
-n /${VEHICLE_NAME} -d ${ROS_DOMAIN_ID} -c ${ZENOH_BRIDGE_ROS2DDS_CONFIG} -e tcp/${ZENOH_CARLA_IP_PORT} -e tcp/${ZENOH_FMS_IP_PORT} \
2>&1 | tee ${LOG_PATH}/zenoh_bridge_ros2dds.log"
6 changes: 5 additions & 1 deletion src/autoware_carla_launch/launch/autoware_zenoh.launch.xml
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Expand Up @@ -32,7 +32,9 @@
<arg name="launch_deprecated_api" default="true" description="launch deprecated API"/>
<!-- Manual Controll -->
<arg name="manual_control" default="true" description="Enable topic relay for manual control"/>

<arg name="is_simulation" default="true"/>
<arg name="use_traffic_light_recognition" default="false"/>

<group scoped="false">
<include file="$(find-pkg-share autoware_launch)/launch/autoware.launch.xml">
<!-- Common -->
Expand Down Expand Up @@ -65,6 +67,8 @@
<!-- Tools -->
<arg name="rviz" value="$(var rviz)"/>
<arg name="rviz_config" value="$(var rviz_config)"/>
<arg name="is_simulation" value="$(var is_simulation)"/>
<arg name="use_traffic_light_recognition" value="$(var use_traffic_light_recognition)"/>
</include>
</group>

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2 changes: 1 addition & 1 deletion src/autoware_launch
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Submodule autoware_launch updated 2 files
+2 −0 autoware_launch/launch/autoware.launch.xml
+1 −1 autoware_launch/launch/components/tier4_perception_component.launch.xml
8 changes: 4 additions & 4 deletions src/carla_sensor_kit_description/config/sensor_kit_calibration.yaml
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Expand Up @@ -28,12 +28,12 @@ sensor_kit_base_link:
pitch: 0.0 #0.325
yaw: 0.0 #2.0943951
camera4/camera_link:
x: 0.0 #0.07356
x: 2.3 #0.07356
y: 0.0
z: 0.0 #-0.0525
roll: 0.0
pitch: 0.0 #-0.03
yaw: 0.0 #-0.005
roll: 1.57
pitch: -3.14 #-0.03
yaw: 1.57 #-0.005
camera5/camera_link:
x: 0.0 #-0.07356
y: 0.0
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