feat(lidar_centerpoint): add build only option for tensorrt engine

[yukke42]

Signed-off-by: yukke42 yusuke.muramatsu@tier4.jp

Description

Add a new feature to build onnx files to tensorrt engine files without inference for CI/CD requirements.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: +0.81 🎉

Comparison is base (8c6797e) 11.93% compared to head (9ad6b01) 12.75%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2677      +/-   ##
==========================================
+ Coverage   11.93%   12.75%   +0.81%     
==========================================
  Files        1320     1218     -102     
  Lines       91849    85981    -5868     
  Branches    24469    24469              
==========================================
  Hits        10965    10965              
+ Misses      69523    63655    -5868     
  Partials    11361    11361              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
total	12.75% <ø> (+0.81%)	⬆️	Carriedforward from e310f15

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

see 102 files with indirect coverage changes

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[yukke42]

A node cannot be shutdown successfully, I'll investigate this issue.

[knzo25]

@yukke42

I think this has to do with the destructor order due to the data relationship of some elements.

If I add this, the problem goes away:

TensorRTWrapper::~TensorRTWrapper()
{
  context_.reset();
  runtime_.reset();
  plan_.reset();
  engine_.reset();
}

Log:

ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml build_only:=true
[INFO] [launch]: All log files can be found below /home/kenzolobos/.ros/log/2023-03-13-10-55-11-049175-npc2103019-402737
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [lidar_centerpoint_node-1]: process started with pid [402745]
[lidar_centerpoint_node-1] 1678672511.315870 [139] lidar_cent: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///opt/autoware/cyclonedds_config.xml line 5)
[lidar_centerpoint_node-1] 1678672511.315893 [139] lidar_cent: config: //CycloneDDS/Domain/Internal/MinimumSocketReceiveBufferSize: setting moved to //CycloneDDS/Domain/Internal/SocketReceiveBufferSize[@min] (line 8)
[lidar_centerpoint_node-1] [INFO] [1678672511.675429330] [tensorrt_common]: [MemUsageChange] Init CUDA: CPU +303, GPU +0, now: CPU 332, GPU 245 (MiB)
[lidar_centerpoint_node-1] [INFO] [1678672511.705650244] [tensorrt_common]: Loaded engine size: 0 MiB
[lidar_centerpoint_node-1] [INFO] [1678672511.707445022] [tensorrt_common]: [MemUsageChange] TensorRT-managed allocation in engine deserialization: CPU +0, GPU +0, now: CPU 0, GPU 0 (MiB)
[lidar_centerpoint_node-1] Loaded engine from /home/kenzolobos/workspace/pilot-auto/install/lidar_centerpoint/share/lidar_centerpoint/data/pts_voxel_encoder_centerpoint_tiny.engine
[lidar_centerpoint_node-1] [INFO] [1678672511.709265274] [tensorrt_common]: [MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +157, now: CPU 0, GPU 157 (MiB)
[lidar_centerpoint_node-1] [INFO] [1678672511.718010348] [lidar_centerpoint]: TensorRT engine is built and shutdown node.
[INFO] [lidar_centerpoint_node-1]: process has finished cleanly [pid 402745]

Additionally, there are some unused variables

[yukke42]

@yukke42

I think this has to do with the destructor order due to the data relationship of some elements.

If I add this, the problem goes away:

TensorRTWrapper::~TensorRTWrapper()
{
  context_.reset();
  runtime_.reset();
  plan_.reset();
  engine_.reset();
}

Log:

ros2 launch lidar_centerpoint lidar_centerpoint.launch.xml build_only:=true
[INFO] [launch]: All log files can be found below /home/kenzolobos/.ros/log/2023-03-13-10-55-11-049175-npc2103019-402737
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [lidar_centerpoint_node-1]: process started with pid [402745]
[lidar_centerpoint_node-1] 1678672511.315870 [139] lidar_cent: config: //CycloneDDS/Domain/General: 'NetworkInterfaceAddress': deprecated element (file:///opt/autoware/cyclonedds_config.xml line 5)
[lidar_centerpoint_node-1] 1678672511.315893 [139] lidar_cent: config: //CycloneDDS/Domain/Internal/MinimumSocketReceiveBufferSize: setting moved to //CycloneDDS/Domain/Internal/SocketReceiveBufferSize[@min] (line 8)
[lidar_centerpoint_node-1] [INFO] [1678672511.675429330] [tensorrt_common]: [MemUsageChange] Init CUDA: CPU +303, GPU +0, now: CPU 332, GPU 245 (MiB)
[lidar_centerpoint_node-1] [INFO] [1678672511.705650244] [tensorrt_common]: Loaded engine size: 0 MiB
[lidar_centerpoint_node-1] [INFO] [1678672511.707445022] [tensorrt_common]: [MemUsageChange] TensorRT-managed allocation in engine deserialization: CPU +0, GPU +0, now: CPU 0, GPU 0 (MiB)
[lidar_centerpoint_node-1] Loaded engine from /home/kenzolobos/workspace/pilot-auto/install/lidar_centerpoint/share/lidar_centerpoint/data/pts_voxel_encoder_centerpoint_tiny.engine
[lidar_centerpoint_node-1] [INFO] [1678672511.709265274] [tensorrt_common]: [MemUsageChange] TensorRT-managed allocation in IExecutionContext creation: CPU +0, GPU +157, now: CPU 0, GPU 157 (MiB)
[lidar_centerpoint_node-1] [INFO] [1678672511.718010348] [lidar_centerpoint]: TensorRT engine is built and shutdown node.
[INFO] [lidar_centerpoint_node-1]: process has finished cleanly [pid 402745]

Additionally, there are some unused variables

@knzo25 Thank you for your advise! I have fixed the error.

[knzo25]

Other than a typo, LGTM !
Checked the runtime of the engine generation and posterior loading

[knzo25]

LGTM!

[yukke42]

@wep21 Cloud you check the updates? 🙇

[wep21]

LGTM