[D-kit]add adaption files for D-kit (#10642)

* add odometry generate tools for dev-kit

* add dag & launch files for dev-kit

* add a gflag for kMinHalfWidth in hdmap_common.cc

modules/calibration/data/dev_kit/transform_conf/static_transform_conf.pb.txt

+extrinsic_file {
+    frame_id: "novatel"
+    child_frame_id: "velodyne128"
+    file_path: "/apollo/modules/drivers/velodyne/params/velodyne16_novatel_extrinsics.yaml"
+    enable: true
+}
+
+extrinsic_file {
+    frame_id: "localization"
+    child_frame_id: "novatel"
+    file_path: "/apollo/modules/localization/msf/params/novatel_localization_extrinsics.yaml"
+    enable: true
+}
+
+extrinsic_file {
+    frame_id: "velodyne128"
+    child_frame_id: "front_6mm"
+    file_path: "/apollo/modules/perception/data/params/front_6mm_extrinsics.yaml"
+    enable: true
+}
+
+extrinsic_file {
+    frame_id: "velodyne128"
+    child_frame_id: "front_12mm"
+    file_path: "/apollo/modules/perception/data/params/front_12mm_extrinsics.yaml"
+    enable: true
+}
+
+
+extrinsic_file {
+    frame_id: "velodyne128"
+    child_frame_id: "radar_front"
+    file_path: "/apollo/modules/perception/data/params/radar_front_extrinsics.yaml"
+    enable: true
+}
+
+

modules/common/configs/config_gflags.cc

@@ -58,6 +58,9 @@ DEFINE_string(
     "modules/dreamview/conf/navigation_mode_default_end_way_point.txt",
     "end_way_point file used if navigation mode is set.");
 
+DEFINE_double(half_vehicle_width, 1.05,
+            "half vehicle width");
+
 DEFINE_double(look_forward_time_sec, 8.0,
               "look forward time times adc speed to calculate this distance "
               "when creating reference line from routing");

modules/common/configs/config_gflags.h

@@ -42,6 +42,8 @@ DECLARE_string(localization_tf2_child_frame_id);
 DECLARE_bool(use_navigation_mode);
 DECLARE_string(navigation_mode_end_way_point_file);
 
+DECLARE_double(half_vehicle_width);
+
 DECLARE_bool(use_sim_time);
 
 DECLARE_bool(reverse_heading_vehicle_state);

modules/dreamview/conf/vehicle_data.pb.txt

@@ -110,3 +110,7 @@ data_files {
   source_path: "teleop_conf/network/initial_routes_and_filters.pb.txt"
   dest_path: "/apollo/modules/teleop/network/conf/initial_routes_and_filters.pb.txt"
 }
+data_files {
+  source_path: "transform_conf/static_transform_conf.pb.txt"
+  dest_path: "/apollo/modules/transform/conf/static_transform_conf.pb.txt"
+}

modules/drivers/camera/dag/dev_kit_camera.dag

+# Define all coms in DAG streaming.
+module_config {
+    module_library : "/apollo/bazel-bin/modules/drivers/camera/libcamera_component.so"
+
+    components {
+      class_name : "CameraComponent"
+      config {
+        name : "camera_front_6mm"
+        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_6mm.pb.txt"
+      }
+    }
+    components {
+      class_name : "CompressComponent"
+      config {
+        name : "camera_front_6mm_compress"
+        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_6mm.pb.txt"
+        readers {
+          channel: "/apollo/sensor/camera/front_6mm/image"
+          pending_queue_size: 10
+        }
+      }
+    }
+
+    components {
+      class_name : "CameraComponent"
+      config {
+        name : "camera_front_12mm"
+        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_12mm.pb.txt"
+      }
+    }
+    components {
+      class_name : "CompressComponent"
+      config {
+        name : "camera_front_12mm_compress"
+        config_file_path : "/apollo/modules/drivers/camera/conf/camera_front_12mm.pb.txt"
+        readers {
+          channel: "/apollo/sensor/camera/front_12mm/image"
+          pending_queue_size: 10
+        }
+      }
+    }
+}
+

modules/drivers/camera/launch/dev_kit_camera.launch

+<cyber>
+    <module>
+        <name>camera</name>
+        <dag_conf>/apollo/modules/drivers/camera/dag/dev_kit_camera.dag</dag_conf>
+        <process_name>usb_cam</process_name>
+    </module>
+    <module>
+        <name>video</name>
+        <dag_conf>/apollo/modules/drivers/video/dag/video.dag</dag_conf>
+        <process_name>h265_video</process_name>
+    </module>
+</cyber>

modules/map/hdmap/hdmap_common.cc

@@ -168,23 +168,22 @@ void LaneInfo::Init() {
 
   if (lane_.has_type()) {
     if (lane_.type() == Lane::CITY_DRIVING) {
-      static constexpr double kMinHalfWidth = 1.05;
       for (const auto &p : sampled_left_width_) {
-        if (p.second < kMinHalfWidth) {
+        if (p.second < FLAGS_half_vehicle_width) {
           AERROR
               << "lane[id = " << lane_.id().DebugString()
               << "]. sampled_left_width_[" << p.second
               << "] is too small. It should be larger than half vehicle width["
-              << kMinHalfWidth << "].";
+              << FLAGS_half_vehicle_width << "].";
         }
       }
       for (const auto &p : sampled_right_width_) {
-        if (p.second < kMinHalfWidth) {
+        if (p.second < FLAGS_half_vehicle_width) {
           AERROR
               << "lane[id = " << lane_.id().DebugString()
               << "]. sampled_right_width_[" << p.second
               << "] is too small. It should be larger than half vehicle width["
-              << kMinHalfWidth << "].";
+              << FLAGS_half_vehicle_width << "].";
         }
       }
     } else if (lane_.type() == Lane::NONE) {

modules/perception/production/dag/dev_kit_dag_streaming_perception.dag

+module_config {
+  module_library : "/apollo/bazel-bin/modules/perception/onboard/component/libperception_component_lidar.so"
+
+ components {
+    class_name : "SegmentationComponent"
+    config {
+      name: "Velodyne128Segmentation"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/velodyne128_segmentation_conf.pb.txt"
+      flag_file_path: "/apollo/modules/perception/production/conf/perception/perception_common.flag"
+      readers {
+          channel: "/apollo/sensor/lidar16/compensator/PointCloud2"
+        }
+    }
+  }
+
+  components {
+    class_name : "RecognitionComponent"
+    config {
+      name: "RecognitionComponent"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/lidar/recognition_conf.pb.txt"
+      readers {
+          channel: "/perception/inner/SegmentationObjects"
+        }
+    }
+  }
+
+
+  components {
+    class_name: "FusionComponent"
+    config {
+      name: "SensorFusion"
+      config_file_path: "/apollo/modules/perception/production/conf/perception/fusion/fusion_component_conf.pb.txt"
+      readers {
+          channel: "/perception/inner/PrefusedObjects"
+        }
+    }
+  }
+
+}

modules/perception/production/launch/dev_kit_perception.launch

+<!--this file list the modules which will be loaded dynamicly and
+    their process name to be running in -->
+<cyber>
+    <desc>cyber modules list config</desc>
+    <version>1.0.0</version>
+    <!-- sample module config, and the files should have relative path like
+         ./bin/cyber_launch
+         ./bin/mainboard
+         ./conf/dag_streaming_0.conf -->
+
+    <module>
+        <name>perception</name>
+        <dag_conf>/apollo/modules/perception/production/dag/dev_kit_dag_streaming_perception.dag</dag_conf>
+        <!-- if not set, use default process -->
+        <process_name>lidar_perception</process_name>
+        <version>1.0.0</version>
+    </module> 
+</cyber>

modules/perception/production/launch/dev_kit_perception_camera.launch

+<!--this file list the modules which will be loaded dynamicly and
+    their process name to be running in -->
+
+<cyber>
+    <desc>cyber modules list config</desc>
+    <version>1.0.0</version>
+
+    <!-- sample module config, and the files should have relative path like
+         ./bin/cyber_launch
+         ./bin/mainboard
+         ./conf/dag_streaming_0.conf -->
+
+    <module>
+        <name>perception_camera</name>
+        <dag_conf>/apollo/modules/perception/production/dag/dag_streaming_perception_camera.dag</dag_conf>
+        <!-- if not set, use default process -->
+        <process_name></process_name>
+        <version>1.0.0</version>
+    </module>
+</cyber>

modules/tools/sensor_calibration/ins_stat_publisher.py

+#!/usr/bin/env python
+
+import argparse
+import atexit
+import logging
+import os
+import sys
+import time
+
+
+#from common.logger import Logger
+from cyber_py import cyber
+from cyber_py import cyber_time
+
+from modules.drivers.gnss.proto import ins_pb2
+
+
+class InsStat(object):
+    def __init__(self,node):
+        self.insstat_pub = node.create_writer('/apollo/sensor/gnss/ins_stat', ins_pb2.InsStat)
+        self.sequence_num = 0
+        self.terminating = False
+
+    def publish_statmsg(self):
+        insstat = ins_pb2.InsStat()
+        now = cyber_time.Time.now().to_sec()
+        insstat.header.timestamp_sec = now
+        insstat.header.module_name = "ins_stat"
+        insstat.header.sequence_num = self.sequence_num
+        self.sequence_num = self.sequence_num + 1
+        insstat.ins_status = 3
+        insstat.pos_type = 56
+        #self.logger.info("%s"%insstat)
+        self.insstat_pub.write(insstat)
+
+    def shutdown(self):
+        """
+        shutdown rosnode
+        """
+        self.terminating = True
+        #self.logger.info("Shutting Down...")
+        time.sleep(0.2)
+
+def main():
+    """
+    Main rosnode
+    """
+    node=cyber.Node('ins_stat_publisher')
+    ins_stat = InsStat(node)
+    while not cyber.is_shutdown():
+        now = cyber_time.Time.now().to_sec()
+        ins_stat.publish_statmsg()
+        sleep_time = 0.5 - (cyber_time.Time.now().to_sec() - now)
+        if sleep_time > 0:
+            time.sleep(sleep_time)
+
+if __name__ == '__main__':
+    cyber.init()
+    main()
+    cyber.shutdown()

modules/tools/sensor_calibration/odom_publisher.py

+#!/usr/bin/env python
+
+import argparse
+import atexit
+import logging
+import os
+import sys
+import time
+
+#from common.logger import Logger
+from cyber_py import cyber
+from cyber_py import cyber_time
+
+from modules.localization.proto import localization_pb2
+from modules.localization.proto import gps_pb2
+
+class OdomPublisher(object):
+    def __init__(self, node):
+        self.localization = localization_pb2.LocalizationEstimate()
+        self.gps_odom_pub = node.create_writer('/apollo/sensor/gnss/odometry', gps_pb2.Gps) 
+        self.sequence_num = 0
+        self.terminating = False
+        self.position_x = 0
+        self.position_y = 0
+        self.position_z = 0
+        self.orientation_x = 0
+        self.orientation_y = 0
+        self.orientation_z = 0
+        self.orientation_w = 0
+        self.linear_velocity_x = 0 
+        self.linear_velocity_y = 0
+        self.linear_velocity_z = 0
+
+    def localization_callback(self, data):
+        """
+        New message received
+        """
+        self.localization.CopyFrom(data)
+        self.position_x = self.localization.pose.position.x
+        self.position_y = self.localization.pose.position.y
+        self.position_z = self.localization.pose.position.z
+        self.orientation_x = self.localization.pose.orientation.qx
+        self.orientation_y = self.localization.pose.orientation.qy
+        self.orientation_z = self.localization.pose.orientation.qz
+        self.orientation_w = self.localization.pose.orientation.qw
+        self.linear_velocity_x = self.localization.pose.linear_velocity.x
+        self.linear_velocity_y = self.localization.pose.linear_velocity.y
+        self.linear_velocity_z = self.localization.pose.linear_velocity.z
+
+    def publish_odom(self):
+        odom = gps_pb2.Gps()
+        now = cyber_time.Time.now().to_sec()
+        odom.header.timestamp_sec = now
+        odom.header.module_name = "odometry"
+        odom.header.sequence_num = self.sequence_num
+        self.sequence_num = self.sequence_num + 1
+
+        odom.localization.position.x = self.position_x
+        odom.localization.position.y = self.position_y
+        odom.localization.position.z = self.position_z
+        odom.localization.orientation.qx = self.orientation_x
+        odom.localization.orientation.qy = self.orientation_y
+        odom.localization.orientation.qz = self.orientation_z
+        odom.localization.orientation.qw = self.orientation_w
+        odom.localization.linear_velocity.x = self.linear_velocity_x
+        odom.localization.linear_velocity.y = self.linear_velocity_y
+        odom.localization.linear_velocity.z = self.linear_velocity_z
+        #self.logger.info("%s"%odom)
+        self.gps_odom_pub.write(odom)
+
+    def shutdown(self):
+        """
+        shutdown rosnode
+        """
+        self.terminating = True
+        #self.logger.info("Shutting Down...")
+        time.sleep(0.2)
+
+def main():
+    """
+    Main rosnode
+    """
+    node = cyber.Node('odom_publisher')
+    odom = OdomPublisher(node)
+    node.create_reader('/apollo/localization/pose', localization_pb2.LocalizationEstimate, odom.localization_callback)
+    while not cyber.is_shutdown():
+        now = cyber_time.Time.now().to_sec()
+        odom.publish_odom()
+        sleep_time = 0.01 - (cyber_time.Time.now().to_sec() - now)
+        if sleep_time > 0:
+            time.sleep(sleep_time)
+
+if __name__ == '__main__':
+    cyber.init()
+    main()
+    cyber.shutdown()