Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

560 feature implement yolop lane detection model #583

Open
wants to merge 29 commits into
base: main
Choose a base branch
from
+397 −23
Open

560 feature implement yolop lane detection model #583

Show file tree
Hide file tree
Changes from 21 commits
Commits
Show all changes
29 commits
Select commit Hold shift + click to select a range
bbd6f33
added CRLerNet
Lukasnol Nov 18, 2024
01f49db
updated launch
Lukasnol Nov 18, 2024
af8896c
added subscription and publisher
Lukasnol Nov 18, 2024
8133afb
Merge remote-tracking branch 'origin/main' into 509-feature-implement…
EyMaxl Nov 19, 2024
6be97bc
perception.launch die lanedetection_node mit debugger eingefügt + Mod…
EyMaxl Nov 19, 2024
a11ebc1
Loading weights works, tryed to load the model aswell - no luck yet
EyMaxl Nov 20, 2024
453ffe4
fixed model loading
Lukasnol Nov 28, 2024
89b4ff7
added now publishing the correct lane mask and added overlay for lane…
Lukasnol Dec 2, 2024
59f91c1
added lidar distances to lane mask. tried to apply boundingboxes for …
Lukasnol Dec 11, 2024
e9c4388
Merge branch '560-feature-implement-yolop-lane-detection-model' into …
Lukasnol Dec 11, 2024
c7ade70
Merge pull request #561 from una-auxme/feature-implement-clrernet-mod…
Lukasnol Dec 11, 2024
8dd7932
fixed launch file
Zelberor Dec 12, 2024
caa5060
added lane markers with lidar points
Lukasnol Dec 12, 2024
eb59a76
Merge branch '560-feature-implement-yolop-lane-detection-model' of ht…
Lukasnol Dec 12, 2024
55ebdc8
Added Documentation
Lukasnol Dec 16, 2024
db7e0ce
Update Lanedetection_node.md
Lukasnol Dec 16, 2024
fada65d
removed Lidar mapping and clustering from Lanedetection node
Lukasnol Dec 18, 2024
910bb99
Merge branch '560-feature-implement-yolop-lane-detection-model' of ht…
Lukasnol Dec 18, 2024
cd13e96
cleaned up code
Lukasnol Dec 18, 2024
560c0d5
updated comments
Lukasnol Dec 18, 2024
72c0641
fixed bug
Lukasnol Dec 18, 2024
7df05ad
updated linter suggestions
Lukasnol Dec 18, 2024
a87fd7a
next linting fix
Lukasnol Dec 18, 2024
7fd4590
final update
Lukasnol Dec 18, 2024
2d5f519
added whitespace
Lukasnol Dec 18, 2024
3238b9e
Merge branch 'main' into 560-feature-implement-yolop-lane-detection-m…
Lukasnol Dec 18, 2024
2bba06b
updated requirements
Lukasnol Dec 18, 2024
008605b
added Coderabbit suggestions
Lukasnol Jan 7, 2025
61fac1c
Merge branch 'main' into 560-feature-implement-yolop-lane-detection-m…
Lukasnol Jan 7, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
114 changes: 92 additions & 22 deletions code/agent/config/rviz_config.rviz
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
Panels:
- Class: rviz/Displays
Help Height: 78
Help Height: 389
Name: Displays
Property Tree Widget:
Expanded:
- /PointCloud23
- /PointCloud24
- /PointCloud25
Splitter Ratio: 0.5
Tree Height: 308
Tree Height: 163
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand Down Expand Up @@ -53,39 +53,37 @@ Visualization Manager:
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Camera
Enabled: true
Enabled: false
Image Rendering: background and overlay
Image Topic: /carla/hero/Center/image
Name: Camera
Overlay Alpha: 0.5
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Value: false
Visibility:
"": true
Grid: false
Image: true
Imu: false
Path: false
PointCloud2: false
Value: true
VisonNode Output: true
Zoom Factor: 1
- Class: rviz/Image
Enabled: true
Image Rendering: background and overlay
Enabled: false
Image Topic: /paf/hero/Center/segmented_image
Max Value: 1
Median window: 5
Min Value: 0
Name: VisonNode Output
Overlay Alpha: 0.5
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Visibility:
Grid: true
Imu: true
Path: true
PointCloud2: true
Value: true
Zoom Factor: 1
Value: false
- Alpha: 1
Class: rviz_plugin_tutorials/Imu
Color: 204; 51; 204
Expand Down Expand Up @@ -260,6 +258,74 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /paf/hero/Center/lane_img
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: false
Image Topic: /paf/hero/Center/Lane_detect_Overlay
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/Image
Enabled: true
Image Topic: /carla/hero/Center/image
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: false
Image Topic: /paf/hero/Center/lane_mask
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /paf/hero/visualization_marker_array_lane
Name: MarkerArray
Namespaces:
min_values: true
Queue Size: 100
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /paf/hero/Center/lane_mask
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -304,19 +370,21 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.19039836525917053
Pitch: 0.7953983545303345
Target Frame: <Fixed Frame>
Yaw: 4.520427227020264
Yaw: 3.060422420501709
Saved: ~
Window Geometry:
Camera:
collapsed: false
Displays:
collapsed: false
Height: 1376
Height: 2086
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd000000040000000000000304000004c6fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000022a000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000026b000002960000001600ffffff000000010000010f000004c6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b000004c6000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b80000003efc0100000002fb0000000800540069006d00650100000000000009b80000030700fffffffb0000000800540069006d0065010000000000000450000000000000000000000599000004c600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000045c00000732fc020000000efb0000001200530065006c0065006300740069006f006e00000001e10000009b000000ab00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000abfb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc000000690000028c0000017800fffffffa000000010100000002fb0000000c00430061006d0065007200610000000000ffffffff000000bd00fffffffb000000100044006900730070006c00610079007301000000000000045c000001dc00fffffffb00000020005600690073006f006e004e006f006400650020004f0075007400700075007402000000000000000000000280000001e0fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650200000000000003720000045c000001fbfb0000000a0049006d00610067006502000000000000055200000280000001e0fb0000000a0049006d00610067006500000004bf0000017d0000002100fffffffb0000000a0049006d0061006700650100000301000002650000002100fffffffb0000000a0049006d0061006700650100000572000002290000002100ffffff000000010000014f00000732fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000069000007320000012300fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000f0000000056fc0100000002fb0000000800540069006d0065010000000000000f000000058200fffffffb0000000800540069006d006501000000000000045000000000000000000000093d0000073200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -325,6 +393,8 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 2488
X: 1992
Y: 27
VisonNode Output:
collapsed: false
Width: 3840
X: 0
Y: 0
20 changes: 20 additions & 0 deletions code/perception/launch/perception.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,9 +84,29 @@
<param name="range_topic" value="/carla/hero/LIDAR_range"/>
</node>




<node pkg="perception" type="debug_wrapper.py" name="Lanedetection" output="screen" args="--debug_node=Lanedetection_node.py --debug_port=53000 --debug_wait">
<param name="role_name" value="$(arg role_name)" />
</node>
<!--
<node pkg="perception" type="Lanedetection_node.py" name="Lanedetection" output="screen">
<param name="role_name" value="$(arg role_name)" />
</node>
-->
Copy link
Contributor

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

💡 Codebase verification

Port 53000 conflicts with lidar_distance node's debug configuration

The debug port 53000 is already used by the lidar_distance node as shown in the documentation example. Please change the Lanedetection node's debug port to a different value in the range 53000-53100 to avoid conflicts.

  • Update debug_port=53000 to a different value (e.g., debug_port=53001) in code/perception/launch/perception.launch
🔗 Analysis chain

Verify debug configuration for Lanedetection node

The debug wrapper configuration looks good, but please verify:

  1. That port 53000 doesn't conflict with other debug nodes
  2. The debug wait flag won't impact the node's startup sequence

Let me check for other debug ports in use to ensure there are no potential conflicts.

Let me try a different approach to find debug port configurations.

🏁 Scripts executed

The following scripts were executed for the analysis:

Script:

#!/bin/bash
# Check for port conflicts in other launch files
rg -l "debug_port=53000" | grep "\.launch$"

Length of output: 84

Script:

#!/bin/bash
# Search for all debug port configurations in launch files
rg "debug_port=\d+" --type launch -A 2 -B 2

Length of output: 76

Script:

#!/bin/bash
# Search for all debug port configurations in any file
rg "debug_port=" -A 2 -B 2

Length of output: 1445




<node pkg="perception" type="radar_node.py" name="radar_node" output="screen">
<param name="point_cloud_topic" value="/carla/hero/RADAR_filtered"/>
<param name="range_topic" value="/carla/hero/RADAR_range"/>
</node>

<node pkg="perception" type="lane_position.py" name="lane_position" output="screen">
<param name="role_name" value="$(arg role_name)" />
</node>


</launch>

Loading
Loading