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feat(rtc_interface): apply multithread for rtc_interface #1275

Merged
merged 1 commit into from
Jul 7, 2022
Merged

feat(rtc_interface): apply multithread for rtc_interface #1275

merged 1 commit into from
Jul 7, 2022

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rej55
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@rej55 rej55 commented Jul 7, 2022

Signed-off-by: Fumiya Watanabe rej55.g@gmail.com

Description

Due to high load of the computation, some nodes are not able to response for the service with rtc_interface.
To solve this problem, I set the callback group as MutuallyExclusive in rtc_interface.

Related links

Tests performed

Checked with planning_simulator under the high load environment.
Run planning_simulator with stress --cpu 10 and check lane_change module receives approval.

You can disable auto approving by using following comnmand:

ros2 service call /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change_right/enable_auto_mode tier4_rtc_msgs/srv/AutoMode enable:\ false

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@rej55 rej55 requested review from yukkysaito and tkimura4 July 7, 2022 11:29
@rej55 rej55 changed the title feature(rtc_interface): apply multithread for rtc_interface feat(rtc_interface): apply multithread for rtc_interface Jul 7, 2022
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Codecov Report

Merging #1275 (aa3d538) into main (774e7fe) will decrease coverage by 0.02%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main   #1275      +/-   ##
========================================
- Coverage   9.60%   9.58%   -0.03%     
========================================
  Files       1074    1074              
  Lines      73844   74038     +194     
  Branches   16253   16372     +119     
========================================
  Hits        7094    7094              
- Misses     60461   60642     +181     
- Partials    6289    6302      +13
Flag Coverage Δ *Carryforward flag
differential 3.11% <0.00%> (?)
total 9.58% <0.00%> (ø) Carriedforward from 774e7fe

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...lanner/scene_module/avoidance/avoidance_module.hpp 0.00% <0.00%> (ø)
...er/scene_module/lane_change/lane_change_module.hpp 0.00% <0.00%> (ø)
...th_planner/scene_module/scene_module_interface.hpp 0.00% <0.00%> (ø)
...er/src/scene_module/avoidance/avoidance_module.cpp 0.00% <0.00%> (ø)
...rc/scene_module/lane_change/lane_change_module.cpp 0.00% <0.00%> (ø)
...nner/src/scene_module/pull_out/pull_out_module.cpp 0.00% <0.00%> (ø)
...er/src/scene_module/pull_over/pull_over_module.cpp 0.00% <0.00%> (ø)
...er/include/scene_module/scene_module_interface.hpp 0.00% <0.00%> (ø)
planning/rtc_interface/src/rtc_interface.cpp 0.00% <0.00%> (ø)
... and 5 more

Continue to review full report at Codecov.

Legend - Click here to learn more
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@rej55
feat(rtc_interface): apply multithread for rtc_interface
aa3d538 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
@rej55 rej55 force-pushed the feature/apply_multithread_for_rtc_interface branch from 693ac03 to aa3d538 Compare July 7, 2022 12:09
@rej55 rej55 merged commit dccd042 into autowarefoundation:main Jul 7, 2022
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jul 7, 2022
Merged
@rej55 rej55 deleted the feature/apply_multithread_for_rtc_interface branch July 7, 2022 17:01
miursh pushed a commit to miursh/autoware.universe that referenced this pull request Jul 12, 2022
@1222-takeshi @mitsudome-r
@nnmm @nik-tier4 @TakaHoribe @k0suke-murakami @wep21 @kenji-miyake @tkimura4 @yamacir-kit @taikitanaka3 @KeisukeShima @kmiya @h-ohta @s-azumi @maxime-clem @YoheiMishina @j4tfwm6z @satoshi-ota
feat: add dummy perception publisher (autowarefoundation#90)
15ec6ff 
* release v0.4.0

* add use_object_recognition flag in dummy_perception_publisher (autowarefoundation#696)

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add sample ros2 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* remove ROS1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit 2e9822586a3539a32653e6bcd378715674b519ca.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Rename launch files to launch.xml (autowarefoundation#28)

* Port dummy_perception_publisher to ROS2 (autowarefoundation#90)

* Port dummy_perception_publisher to ROS2

* Uncrustify

* Lint

* Copyright

* Period

* Further ament_cpplint fixes

* Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131)

* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* adding linters to dummy_perception_publisher (autowarefoundation#220)

* [dummy_perception_publisher] fix launch file and installation (autowarefoundation#215)

* [dummy_perception_publisher] fix launch file and installation

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Apply suggestions from code review

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* reduce terminal ouput for better error message visibility (autowarefoundation#200)

* reduce terminal ouput for better error message visibility

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [costmap_generator] fix waiting for first transform

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix tests

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix test

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* modify launch file for making psim work (autowarefoundation#238)

* modify launch file for making psim work

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* remove unnecesary ns

Signed-off-by: kosuke murakami <kosuke.murakami@tier4.jp>

* Ros2 v0.8.0 dummy perception publisher (autowarefoundation#286)

* Remove "/" in frame_id (autowarefoundation#406)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix transform (autowarefoundation#420)

* Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix canTransform

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix test

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* add use_sim-time option (autowarefoundation#454)

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Diable dummy_perception_publisher if argument 'scenario_simulation' i… (autowarefoundation#1275)

* Diable dummy_perception_publisher if argument 'scenario_simulation' is true

* Rename argument to 'disable_dummy_perception_publisher_node' from 'scenario_simulation'

* change theta step for obj point cloud (autowarefoundation#1280)

* Revert changes of PR autowarefoundation#1275 (autowarefoundation#1377)

* Add pre-commit (autowarefoundation#1560)

* add pre-commit

* add pre-commit-config

* add additional settings for private repository

* use default pre-commit-config

* update pre-commit setting

* Ignore whitespace for line breaks in markdown

* Update .github/workflows/pre-commit.yml

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* exclude svg

* remove pretty-format-json

* add double-quote-string-fixer

* consider COLCON_IGNORE file when seaching modified package

* format file

* pre-commit fixes

* Update pre-commit.yml

* Update .pre-commit-config.yaml

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: pre-commit <pre-commit@example.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Fix dependency type of rosidl_default_generators (autowarefoundation#1801)

* Fix dependency type of rosidl_default_generators

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove unnecessary depends

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Use ament_cmake_auto

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix mistake

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>

* fix topic namespace (autowarefoundation#2054)

Signed-off-by: Azumi Suzuki <azumi.suzuki@tier4.jp>

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* Feature/porting occlusion spot (autowarefoundation#1740)

* Feature/occlusion_spot safety planner public road (autowarefoundation#1594)

* add blind spot safety planner public road

* remove duplicated procesing

* remove unused private param

* renaming fix typo add comments

* fix spell check

* velocity -> relative velocity

* calc2d, To param, simplify search, To original

* add the num possible collision gurd

* computational cost reduction

* Cosmetic change for PossibleCollisionInfo

* add interpolation to possible collision value

* refactor codes

* fix details

* invalid point gurd

* To Param

* refacotor to occlusion spot util

* cosmetic change

* clean up blindspot

* To Occlusion Spot

* revise readme

* refactor drawing

* for better explanation

* fix velocity profile

* clean up details

* cosmetic change for debug marker

* use max velocity in obstacle info instead

* add gtest for Too Many Possible Collision case

* change case

* refactor readme

* minor fix

* add more occlusion spot explanation

* replace svg

* add gtest build path lanelet

* hotfix lateral distance and searching method

* update g test for lateral distance

* use faster search

* set more realistic param

* add lanelet subtype highway

* cosmetic change of reviews

* add occlusion spot module in private area (autowarefoundation#1640)

* add occlusion spot in private

* For debugging change

* add spline interpolation to path

* add review changes

* adding minor change

* cosmetic change

* Vector to retval

* Blindspot To OcclusionSpot1

* To Occlusion Spot 2

* To Occlusions spot3

* update gtest with unified anchor

* remove anchor

* add test slice

* simplify interpolation

* Too Occlusion spot4

* add test buffer

* To Occlusion spot

* namespace gurd

* correct slice and add interpolation first

* handle self crossing with check for invation

* to ros debug stream

* removed unused interpolation

* add readme to plant uml

* cosmetic change

* minor change

* update readme

* review change

* change occlusion spot text color

* To Offset no Throw

* better debug marker

* catch only inversion error

* skip return in case of inversion

* for better grid

* simplify path lanelet at first

* remove std::cout

* for better path

* limit ego path inside target lanelet location

* remove last points

* cosmetic change for markers

* apply module for limited scene

* fix interpolation gurd

* for better params

* do not includes path behind

* remove dummy perception publisher

* Revert "remove dummy perception publisher"

This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117.

* replace hard coded occupancy grid option in psim

* remove respawn

* add arg to params and remove redundunt launch

* fix spell check

* fix default value

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Feature/occlusion spot private slice size param (autowarefoundation#1703)

* add min slice size

* for a bit narrow lateral distance

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml

Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

* Rename files

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Porting to ros2

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* pre-commit fixes

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix typo

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix launch namespace

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Fix parameter type

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp

Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>

Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply Black

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply clang-format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Fix build errors

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* port dummy perception publisher to auto (autowarefoundation#562)

* port dummy perception publisher to auto

* autoware_perception_msgs/DynamicObjectWithFeatureArray convert to autoware_perception_msgs/DetectedObjectsWithFeature

* change tracked objects to PREDICTED objects

* separate pub type with real

* Add README.md to dummy perception publisher (autowarefoundation#641)

* Added readme for dummy_perception_pub

* README update

* README update

* Fix pre-commit

* fix typo

* Update README.md

* Update README.md

* Update README.md

* Modified node.cpp

* Modified README.md

* change parameter name

* Update README.md

* [shape_estimation]change type (autowarefoundation#663)

* change output type of shape_estimation

* remove unused function

* add dynamic_object_converter

* rename

* fix typo

* fix dummy_perception_publisher

* update readme

* fix copyright

* rename package

* add readme

* fix launch name

* remove unused variable

* fix readme

* fix convert function

* change topic name of DynamicObjectsWithFeature

* Fix no ground pointcloud topic name (autowarefoundation#733)

Signed-off-by: j4tfwm6z <proj-jpntaxi@tier4.jp>

Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp>

* auto/fix occupancy grid name space in dummy perception publisher (autowarefoundation#739)

* fix name space

* change namespace: object_segmentation -> obstacle_segmentation

* feat: add use_traffic_light status

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp>
Co-authored-by: Nikolai Morin <nnmmgit@gmail.com>
Co-authored-by: nik-tier4 <71747268+nik-tier4@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: tkimura4 <tomoya.kimura@tier4.jp>
Co-authored-by: Tatsuya Yamasaki <httperror@404-notfound.jp>
Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: pre-commit <pre-commit@example.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: Azumi Suzuki <38061530+s-azumi@users.noreply.github.com>
Co-authored-by: Maxime CLEMENT <78338830+maxime-clem@users.noreply.github.com>
Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com>
Co-authored-by: j4tfwm6z <proj-jpntaxi@tier4.jp>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@rej55 @boyali
feat(rtc_interface): apply multithread for rtc_interface (tier4#1275)
a053190 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@rej55 @boyali
feat(rtc_interface): apply multithread for rtc_interface (tier4#1275)
d4e877c 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@rej55 @boyali
feat(rtc_interface): apply multithread for rtc_interface (tier4#1275)
016ed20 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
yukke42 pushed a commit to tzhong518/autoware.universe that referenced this pull request Oct 14, 2022
@rej55
feat(rtc_interface): apply multithread for rtc_interface (autowarefou…
a1cf459 
…ndation#1275)

Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@rej55 @boyali
feat(rtc_interface): apply multithread for rtc_interface (tier4#1275)
ab622ff 
Signed-off-by: Fumiya Watanabe <rej55.g@gmail.com>
1222-takeshi pushed a commit to 1222-takeshi/autoware.universe that referenced this pull request Jun 13, 2024
@mergify @h-ohta
revert: feat(global_parameter_loader): add gtest to global parameter …
225f8e8 
…loader (backport autowarefoundation#6872) (backport autowarefoundation#1274) (autowarefoundation#1275)

revert: feat(global_parameter_loader): add gtest to global parameter loader (backport autowarefoundation#6872) (autowarefoundation#1274)

revert: feat(global_parameter_loader): add gtest to global parameter loader (autowarefoundation#6872)

Revert "feat(global_parameter_loader): add gtest to global parameter loader (…"

This reverts commit dfec62a.

(cherry picked from commit e5196bc)

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@a-maumau
feat(image_projection_based_fusion): add cache options (autowarefound…
ee71002 
…ation#1275)

* add timekeeper option

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* add cache option and mod unrectified_image option

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

* fix parameter names

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>

---------

Signed-off-by: a-maumau <maumaumaumaumaumaumaumaumaumau@gmail.com>
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@yukkysaito yukkysaito yukkysaito approved these changes

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@rej55 @yukkysaito