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feat(ndt_scan_matcher): smooth ndt map update #6394
feat(ndt_scan_matcher): smooth ndt map update #6394
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Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Thank you for the pull request! |
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Added a quick comment about trivial issues with the code.
A review of the logic will be conducted separately in the future. 👍
localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
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…r better understanding Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
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Added some comments. I would appreciate it if you could give me answers.
localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
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localization/ndt_scan_matcher/include/ndt_scan_matcher/map_update_module.hpp
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…ptr is null Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp>
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I think it's basically OK.
I have only added two comments, so please respond.
All my comments have been resolved. Once the pull request to ndt_omp is merged, I will also approve this pr. |
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Looks Good To Me!
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## main #6394 +/- ##
==========================================
+ Coverage 15.12% 15.24% +0.12%
==========================================
Files 1821 1816 -5
Lines 126131 125120 -1011
Branches 38180 38182 +2
==========================================
+ Hits 19073 19076 +3
+ Misses 85670 84657 -1013
+ Partials 21388 21387 -1
*This pull request uses carry forward flags. Click here to find out more. ☔ View full report in Codecov by Sentry. |
* Fixed conflicts Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Remove unnecessary TODO Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Removed unused debug variable and rename rebuild_ to need_rebuild_ for better understanding Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Replace pointer to ndt by reference, output error when the input ndt_ptr is null Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Fix error message Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Fixed conflicts Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Remove unnecessary TODO Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Removed unused debug variable and rename rebuild_ to need_rebuild_ for better understanding Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Replace pointer to ndt by reference, output error when the input ndt_ptr is null Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Fix error message Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>
* Fixed conflicts Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Remove unnecessary TODO Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Removed unused debug variable and rename rebuild_ to need_rebuild_ for better understanding Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * Replace pointer to ndt by reference, output error when the input ndt_ptr is null Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix * Fix error message Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: anhnv3991 <anh.nguyen.2@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Description
Tests performed
rosbag: https://drive.google.com/drive/folders/1VYhi6cHW4OXx5QvGih6aCskrAH-17iJl
map: https://tier4.github.io/AWSIM/GettingStarted/QuickStartDemo/#launching-autoware
The map is divided by MapIV's point cloud divider
Launch autoware's logging simulator:
ros2 launch autoware_launch logging_simulator.launch.xml \ map_path:=~/Downloads/nishishinjuku_autoware_map_divided \ vehicle_model:=sample_vehicle \ sensor_model:=awsim_sensor_kit
Replay the rosbag
ros2 bag play ${ROSBAG_PATH} --rate 1.0 \ --clock 200
Screencast.from.07-02-2024.10.56.45.webm
Effects on system behavior
None
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