Re-origanize launch file for probabilisitic_occupancy_grid_map packages

[YoshiRi]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

Try to reorganize launch file for occuapncy grid map generation.

Purpose

Problem Statements

• There are duplicated launch files in tier4_perception_launch and probabilisitic_occupancy_grid_map packages.
  • This is confusing for users which file to edit
• poor readability because of launch.py style
  • It's better to rewrite launch file in xml file
  • or create organizer launch to access each launch.py files

Possible approaches

• Create origanizer launch.xml in tier4_perception_launch instead of current launch.py
  • From the launch.xml file, call launch.py in probabilistic_occupancy_grid_map packages.
  • Switchable between potincloud/laserscan based methods

Definition of done

Reproduce the same behavior

[mitsudome-r]

@YoshiRi @Zeysthingz is willing to help with this task. @Zeysthingz Could you describe your approach (or create a draft PR) and align with @YoshiRi about this task?

[YoshiRi]

@mitsudome-r @Zeysthingz OK. Where should we discuss? I'll just describe my load map here.

[Zeysthingz]

I did not examine the issue in detail yet but I think we can discuss on discord if it's fine.

[YoshiRi]

My goal

As described in https://github.com/autowarefoundation/autoware.universe/issues/2906, I think we need to create occupancy grid map in each sensor frame to correctly reflect the FOV of the sensor.

So, my goal image is like following figures:

Current	Final goal

Sub Goals

To achieve the goal, I think there should be some sub goals to be achieved.

• <1> Fix grid map generation - a. need to generate same grid map for fusion but different scan frame - b. manage each sensor FOV correctly - c. launch refactoring
• <2> Add fusion node - a. asyncronous grid map fusion with [[Binary Bayes/ Linear Opinion Pool/ Dempster-Shafer]]

Related PRs

• 1.a: Separate grid map origin and scan origin :
  • https://github.com/autowarefoundation/autoware.universe/pull/2939
• 1.b: Filter the obstacle pointcloud by raw pointcloud to correctly reflect FOV:
  • https://github.com/autowarefoundation/autoware.universe/pull/3054
• 1.c: Refactor launch.xml
  • https://github.com/autowarefoundation/autoware.universe/pull/3058
• 2.a: under going...

[YoshiRi]

I did not examine the issue in detail yet but I think we can discuss on discord if it's fine.

@Zeysthingz Fine, but I am not familiar with discord (just used for chat with friends), could you guide me?

[Zeysthingz]

Yes sure I can ,we usually use discord for company stuffs. zeys#0531 is me you can add me.

[YoshiRi]

I just created talk room. /< I removed URL and ID. Please mention me again if you need this information/> .

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[idorobotics]

My goal

As described in #2906, I think we need to create occupancy grid map in each sensor frame to correctly reflect the FOV of the sensor.

So, my goal image is like following figures: Current Final goal

Sub Goals

To achieve the goal, I think there should be some sub goals to be achieved.

* <1> Fix grid map generation

  * a. need to generate same grid map for fusion but different scan frame
  * b. manage each sensor FOV correctly
  * c. launch refactoring

* <2> Add fusion node

  * a. asyncronous grid map fusion with [[Binary Bayes/ Linear Opinion Pool/ Dempster-Shafer]]

Related PRs

* 1.a: Separate grid map origin and scan origin :

  * [feat(probablistic_occupancy_grid_map): add alternative to gridmap origin frame #2939](https://github.com/autowarefoundation/autoware.universe/pull/2939)

* 1.b: Filter the obstacle pointcloud by raw pointcloud to correctly reflect FOV:

  * [feat(probabilistic_occupancy_grid_map): add pointcloud filter in gridmap generation #3054](https://github.com/autowarefoundation/autoware.universe/pull/3054)

* 1.c: Refactor launch.xml

@YoshiRi Looks like all PRs are merged. Can this issue be closed or is there other work outstanding?

[stale[bot]]

This pull request has been automatically marked as stale because it has not had recent activity.

[technolojin]

I think this issue is good to be closed.