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feat(autoware_pointcloud_preprocessor): cuda-accelerated pointcloud concatenation #9455
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feat(autoware_pointcloud_preprocessor): cuda-accelerated pointcloud concatenation #9455
knzo25
wants to merge
103
commits into
autowarefoundation:main
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knzo25:feat/cuda_blackboard_concatenated_pointcloud
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Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Co-authored-by: Max Schmeller <[email protected]>
…combine_cloud_handler.cpp Co-authored-by: Max Schmeller <[email protected]>
…_time_sync_node.schema.json Co-authored-by: Max Schmeller <[email protected]>
…_time_sync_node.schema.json Co-authored-by: Max Schmeller <[email protected]>
…combine_cloud_handler.cpp Co-authored-by: Max Schmeller <[email protected]>
…combine_cloud_handler.cpp Co-authored-by: Max Schmeller <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
…_node_unit.cpp Co-authored-by: Max Schmeller <[email protected]>
…hub.com:vividf/autoware.universe into feature/redesign_concatenate_and_time_sync_node
…_node_unit.cpp Co-authored-by: Max Schmeller <[email protected]>
…_node_unit.cpp Co-authored-by: Max Schmeller <[email protected]>
…_node_unit.cpp Co-authored-by: Max Schmeller <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
…hub.com:vividf/autoware.universe into feature/redesign_concatenate_and_time_sync_node
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
Signed-off-by: vividf <[email protected]>
…hub.com:vividf/autoware.universe into feature/redesign_concatenate_and_time_sync_node
…nate_and_time_sync_node
…ate_and_time_sync_node
…hub.com:vividf/autoware.universe into feature/redesign_concatenate_and_time_sync_node
…egrated it with the cuda blackboard Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
github-actions
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type:documentation
Creating or refining documentation. (auto-assigned)
component:sensing
Data acquisition from sensors, drivers, preprocessing. (auto-assigned)
tag:require-cuda-build-and-test
labels
Nov 25, 2024
Thank you for contributing to the Autoware project! 🚧 If your pull request is in progress, switch it to draft mode. Please ensure:
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This was referenced Nov 25, 2024
Note, this PR will be kept as a draft until #8300 is merged, at which point this PR will be rebased |
This was referenced Nov 25, 2024
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Labels
component:sensing
Data acquisition from sensors, drivers, preprocessing. (auto-assigned)
tag:require-cuda-build-and-test
type:documentation
Creating or refining documentation. (auto-assigned)
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Description
This PR is part of a series of PRs that aim to accelerate the Sensing/Perception pipeline through an appropriate use of CUDA.
List of PRs:
To use these branches, the following additions to the
autoware.repos
are necessary:Depending on your machine and how many nodes are in a container, the following branch may also be required:
https://github.com/knzo25/launch_ros/tree/fix/load_composable_node
There seems to be a but in ROS where if you send too many services at once some will be lost and
ros_launch
can not handle that.Related links
Parent Issue:
How was this PR tested?
The sensing/perception pipeline was tested until centerpoint for TIER IV's taxi using the logging simulator.
Notes for reviewers
The main branch that I used for development is
feat/cuda_acceleration_and_transport_layer
.However, the changes were too big so I split the PRs. That being said, development, if any will still be on that branch (and then cherrypicked to the respective PRs), and the review changes will be cherrypicked into the development branch.
Interface changes
An additional topic is added to perform type negotiation:
Example:
input/pointcloud
->input/pointcloud
andinput/pointcloud/cuda
Effects on system behavior
Enabling this preprocessing in the launchers should provide a much reduced latency and cpu usage (at the cost of a higher GPU usage)