Merge pull request autowarefoundation#1275 from CPFL/release/1.7.0

Release/1.7.0

.travis.yml

@@ -0,0 +1,85 @@
+language:
+  - generic
+cache:
+  - apt
+matrix:
+  include:
+    - dist: xenial
+      compiler: gcc
+      os: linux
+      sudo: required
+      env: ROS_DISTRO=kinetic
+    - dist: trusty
+      compiler: gcc
+      os: linux
+      sudo: required
+      env: ROS_DISTRO=indigo
+notifications:
+    slack: star4:911NA0lU8gDHitCKLto9LzPJ
+env:
+  global:
+    - ROS_CI_DESKTOP="`lsb_release -cs`"
+    - CI_SOURCE_PATH=$(pwd)
+    - ROSINSTALL_FILE=$CI_SOURCE_PATH/dependencies.rosinstall
+    - CATKIN_OPTIONS=$CI_SOURCE_PATH/catkin.options
+    - PYTHONPATH=$PYTHONPATH:/usr/lib/python2.7/dist-packages:/usr/local/lib/python2.7/dist-packages
+
+# Install system dependencies, and Autoware pre requisites (non-ros)
+before_install:
+  - sudo sh -c "echo \"deb http://packages.ros.org/ros/ubuntu $ROS_CI_DESKTOP main\" > /etc/apt/sources.list.d/ros-latest.list"
+  - sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+  # Autoware pre requisites should be installed automatically by rosdep not in here
+  - sudo apt-get update
+  - sudo apt-get install -y  python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
+  - source /opt/ros/$ROS_DISTRO/setup.bash
+  - sudo rosdep init
+  - rosdep update
+
+# Create a catkin workspace with the package under integration.
+install:
+  - cd ros/src
+  - catkin_init_workspace
+  - cd ..
+
+# Install all ros dependencies, using wstool first and rosdep second.
+# wstool looks for a ROSINSTALL_FILE defined in the environment variables.
+before_script:
+  # source dependencies: install using wstool.
+  - cd src
+  - wstool init
+  - if [[ -f $ROSINSTALL_FILE ]] ; then wstool merge $ROSINSTALL_FILE ; fi
+  - wstool up
+  # package depdencies: install using rosdep.
+  - cd ..
+  - rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+
+# Compile and test (mark the build as failed if any step fails). If the
+# CATKIN_OPTIONS file exists, use it as an argument to catkin_make, for example
+# to blacklist certain packages.
+#
+# NOTE on testing: `catkin_make run_tests` will show the output of the tests
+# (gtest, nosetest, etc..) but always returns 0 (success) even if a test
+# fails. Running `catkin_test_results` aggregates all the results and returns
+# non-zero when a test fails (which notifies Travis the build failed).
+script:
+  - catkin_make clean
+  - source devel/setup.bash
+  - catkin_make -j4
+
+#sudo: required
+#dist: trusty
+#language: generic
+#compiler:
+#  - gcc
+#notifications:
+#    slack: star4:911NA0lU8gDHitCKLto9LzPJ
+#env:
+#  matrix:
+#    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+##    - USE_DEB=true  ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+#    - USE_DEB=true  ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu
+##    - USE_DEB=true  ROS_DISTRO="kinetic"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu
+#install:
+#  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+#script:
+#  - source .ci_config/travis.sh

README.md

@@ -1,5 +1,10 @@
 <div align="center"><img src="docs/images/autoware_logo_1.png" width="400"/></div>
 
+|Branch | Status |
+|-------|--------|
+|Master |[![Build Status](https://travis-ci.org/CPFL/Autoware.svg?branch=master)](https://travis-ci.org/CPFL/Autoware) |
+|Develop|[![Build Status](https://travis-ci.org/CPFL/Autoware.svg?branch=develop)](https://travis-ci.org/CPFL/Autoware)|
+
 # Autoware
 Open-source software for urban autonomous driving, maintained by [Tier IV](http://www.tier4.jp). The following functions are supported:
 
@@ -22,20 +27,20 @@ Open-source software for urban autonomous driving, maintained by [Tier IV](http:
 - Software Simulation
 - Virtual Reality
 
-Autoware is protected by the BSD License. Please use it on at your own discretion. For safe use, we provide a ROSBAG-based simulation method for those who do not own real autonomous vehicles. In case you use Autoware with real autonomous vehicles, **please formulate safety measures and assessment of risk before field testing.**
+Autoware is protected by the BSD License. Please use it at your own discretion. For safe use, we provide a ROSBAG-based simulation method for those who do not own real autonomous vehicles. If you plan to use Autoware with real autonomous vehicles, **please formulate safety measures and assessment of risk before field testing.**
 
 ## Manuals and Documents
 
-Free manuals can be found at [https://github.com/CPFL/Autoware-Manuals](https://github.com/CPFL/Autoware-Manuals). You are encouraged to join maintenance of those manuals. Thanks for your cooperation!
+Free manuals can be found at [https://github.com/CPFL/Autoware-Manuals](https://github.com/CPFL/Autoware-Manuals). You are encouraged to contribute to the maintenance of these manuals. Thank you for your cooperation!
 
-See also [branching_model](https://github.com/CPFL/Autoware/blob/master/docs/en/branching_model.md) for the tips of Autoware development, including the coding style and branching model.
+If you have a question please check the [Wiki](https://github.com/CPFL/Autoware/wiki), and the [FAQ](https://github.com/CPFL/Autoware/wiki/FAQ), [FAQ (JP)](https://github.com/CPFL/Autoware/wiki/FAQ(JP)).
 
 ## License
 
 * New BSD License
     * See LICENSE
 
-## Spec Recommendation
+## Recommended Minimum System Specifications
 
 - Number of CPU cores: 8
 - RAM size: 32GB
@@ -46,29 +51,27 @@ See also [branching_model](https://github.com/CPFL/Autoware/blob/master/docs/en/
 - ROS indigo (Ubuntu 14.04) or ROS jade (Ubuntu 15.04) or ROS kinetic (Ubuntu 16.04)
 - OpenCV 2.4.10 or higher
 - Qt 5.2.1 or higher
-- CUDA(Optional)
-- FlyCapture2 (Optional)
-- Armadillo (Optional)
+- CUDA (optional)
+- FlyCapture2 (optional)
+- Armadillo (optional)
 
-**Please use checkout revision before 2015/OCT/21 if you use Autoware on ROS hydro or Ubuntu 13.04, 13.10.**
+**Please use checkout a revision before 2015/OCT/21 if you want to use Autoware on ROS Hydro or Ubuntu 13.04, 13.10.**
 
-### Install dependencies for Ubuntu 14.04 indigo
+### Install system dependencies for Ubuntu 14.04 Indigo
 
 ```
-% sudo apt-get install ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization ros-indigo-grid-map ros-indigo-gps-common
-% sudo apt-get install ros-indigo-controller-manager ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper ros-indigo-joystick-drivers ros-indigo-novatel-span-driver
-% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests
+% sudo apt-get install -y  python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin
 % sudo add-apt-repository ppa:mosquitto-dev/mosquitto-ppa
+% sudo apt-get update
 % sudo apt-get install libmosquitto-dev
 ```
 
-**NOTE: Please do not install ros-indigo-velodyne-pointcloud package. Please uninstall it if you already installed.**
+**NOTE: Please do not install ros-indigo-velodyne-pointcloud package. If it is already installed, please uninstall.**
 
-### Install dependencies for Ubuntu 16.04 kinetic
+### Install system dependencies for Ubuntu 16.04 Kinetic
 ```
-% sudo apt-get install ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
-% sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
-% sudo apt-get install libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests
+% sudo apt-get update
+% sudo apt-get install -y python-catkin-pkg python-rosdep python-wstool ros-$ROS_DISTRO-catkin libmosquitto-dev
 ```
 
 **NOTE: Following packages are not supported in ROS Kinetic.**
@@ -78,21 +81,32 @@ See also [branching_model](https://github.com/CPFL/Autoware/blob/master/docs/en/
 
 ## How to Build
 
+1. Clone the repository
+
 ```
 $ cd $HOME
-$ git clone https://github.com/CPFL/Autoware.git
+$ git clone https://github.com/CPFL/Autoware.git --recurse-submodules
+```
+or if you already have a copy of the repo, run `$ git submodule update --init --recursive`.
+
+2. Initialize the workspace, let rosdep to install the missing dependencies and compile.
+
+```
 $ cd ~/Autoware/ros/src
 $ catkin_init_workspace
 $ cd ../
+$ rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
 $ ./catkin_make_release
 ```
+
 ###Caffe based object detectors
 CV based detectors RCNN and SSD nodes are not automatically built.
 
 To build these nodes please follow the respective node's README
 [SSD](ros/src/computing/perception/detection/packages/cv_tracker/nodes/ssd/README.md)
 [RCNN](ros/src/computing/perception/detection/lib/image/librcnn/README.md)
 [Yolo2](ros/src/computing/perception/detection/packages/cv_tracker/nodes/yolo2/README.md)
+[Yolo3](ros/src/computing/perception/detection/packages/yolo3_detector/README.md)
 
 
 ## How to Start
@@ -110,14 +124,14 @@ repository, you must use **git subtree push**. (Please never change and push cod
 `git subtree` well).
 
 GitFlow, the git branching model, is used in the Autoware repository.
-- When you adding new features, you can branch off your feature branch from `develop`.  
-  you can use the following command.  
+- When adding new features, you can branch off your feature branch from `develop`.  
+  You can use the following command.  
   `$ git checkout -b feature/[your_branch_name] develop`
 - When you find bugs in `master`, you can branch off your hotfix branch from `master`.  
-  you can use the following command.  
+  You can use the following command.  
   `$ git checkout -b hotfix/[your_branch_name] master`
 
-See [docs/en/branching_model.md](docs/en/branching_model.md)
+See also [branching_model](https://github.com/CPFL/Autoware/blob/master/docs/en/branching_model.md) for tips on Autoware development, including the coding style and branching model.
 
 More details [here](http://nvie.com/posts/a-successful-git-branching-model/)
 
@@ -130,7 +144,7 @@ More details [here](http://nvie.com/posts/a-successful-git-branching-model/)
 ### Detection
 - lidar_tracker
 - cv_tracker
-- road_wizard
+- trafficlight_recognizer
 
 ### Mission (Global) Planning
 - lane_planner
@@ -160,7 +174,7 @@ More details [here](http://nvie.com/posts/a-successful-git-branching-model/)
 ### Test Field Demonstration
 [![Test Field Demonstration](http://img.youtube.com/vi/zujGfJcZCpQ/mqdefault.jpg)](https://www.youtube.com/watch?v=zujGfJcZCpQ)
 
-## Instruction Videos
+## Instructional Videos
 
 ### Quick Start
 [![Quick Start](http://img.youtube.com/vi/NDNcy0C-Has/mqdefault.jpg)](https://www.youtube.com/watch?v=NDNcy0C-Has)
@@ -183,6 +197,9 @@ More details [here](http://nvie.com/posts/a-successful-git-branching-model/)
 ### Detection with Yolo2
 [![Yolo2](http://img.youtube.com/vi/gG_ojWOmDO0/mqdefault.jpg)](https://youtu.be/gG_ojWOmDO0)
 
+### Detection with Yolo3
+[![Yolo v3 Autoware](https://img.youtube.com/vi/pO4vM4ehI98/0.jpg)](https://www.youtube.com/watch?v=pO4vM4ehI98)
+
 ### Detection with DPM
 [![DPM](http://img.youtube.com/vi/P_BFQNbudlg/mqdefault.jpg)](https://youtu.be/P_BFQNbudlg)
 
@@ -206,6 +223,12 @@ More details [here](http://nvie.com/posts/a-successful-git-branching-model/)
 
 See [https://github.com/CPFL/Autoware/wiki/Calibration(EN)](https://github.com/CPFL/Autoware/wiki/Calibration(EN))
 
+### Camera-LiDAR Calibration
+See [Autoware Camera-LiDAR Calibration](ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/README.md)
+
+### Multi-LiDAR Calibration
+See [Autoware Multi-LiDAR Calibration](ros/src/sensing/fusion/packages/multi_lidar_calibrator/README.md)
+
 ### Data Processor for Bag File
 [![Data Processor](http://img.youtube.com/vi/M38Obmy-3Ko/mqdefault.jpg)](https://youtu.be/M38Obmy-3Ko)
 
@@ -214,11 +237,7 @@ See [https://github.com/CPFL/Autoware/wiki/Calibration(EN)](https://github.com/C
 
 ## Sample Data
 
-[3D maps of Moriyama in Nagoya](http://db3.ertl.jp/autoware/sample_data/sample_moriyama_data.tar.gz)
-
-[ROSBAG data for Moriyama demo](http://db3.ertl.jp/autoware/sample_data/sample_moriyama_150324.tar.gz)
-
-[Script of generating launch files for Moriyama demo](http://db3.ertl.jp/autoware/sample_data/my_launch.sh)
+[Moriyama demo](https://github.com/CPFL/Autoware/wiki/Demo)
 
 [ROSBAG data for calibration test](http://db3.ertl.jp/autoware/sample_data/kotacho-calibration-sample_20160621.bag.bz2)
 

docker/generic/Dockerfile.indigo

@@ -8,16 +8,11 @@ RUN apt-get update && apt-get install -y \
 # Install ROS
 RUN wget http://packages.ros.org/ros.key -O - | apt-key add -
 RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list
-RUN apt-get update && apt-get install -y \
-        ros-indigo-desktop-full ros-indigo-nmea-msgs \
-        ros-indigo-nmea-navsat-driver ros-indigo-sound-play \
-        ros-indigo-jsk-visualization ros-indigo-grid-map ros-indigo-gps-common \
-        ros-indigo-controller-manager ros-indigo-ros-control \
-        ros-indigo-ros-controllers ros-indigo-gazebo-ros-control \
-        ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper \
-        ros-indigo-joystick-drivers ros-indigo-novatel-span-driver \
-        libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev \
-        libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev
+RUN apt-get update && apt-get install -y ros-indigo-desktop-full ros-indigo-nmea-msgs ros-indigo-nmea-navsat-driver ros-indigo-sound-play ros-indigo-jsk-visualization ros-indigo-grid-map ros-indigo-gps-common
+RUN apt-get update && apt-get install -y ros-indigo-controller-manager ros-indigo-ros-control ros-indigo-ros-controllers ros-indigo-gazebo-ros-control ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper ros-indigo-joystick-drivers ros-indigo-novatel-span-driver
+RUN apt-get update && apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev software-properties-common libyaml-cpp-dev python-flask python-requests
+RUN add-apt-repository ppa:mosquitto-dev/mosquitto-ppa
+RUN apt-get update && apt-get install -y libmosquitto-dev
 
 RUN rosdep init \
         && rosdep update \
@@ -96,9 +91,14 @@ RUN groupadd -f pgrimaging && \
 # Change user
 USER autoware
 
+# YOLO_V2
+RUN cd && git clone https://github.com/pjreddie/darknet.git
+RUN cd ~/darknet && git checkout 56d69e73aba37283ea7b9726b81afd2f79cd1134
+RUN cd ~/darknet/data && wget https://pjreddie.com/media/files/yolo.weights
+
 # Install Autoware
 RUN git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware
-RUN /bin/bash -c 'source /opt/ros/indigo/setup.bash; cd /home/$USERNAME/Autoware/ros/src; catkin_init_workspace; cd ../; ./catkin_make_release'
+RUN /bin/bash -c 'source /opt/ros/indigo/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release'
 RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
 
 # Change Terminal Color

docker/generic/Dockerfile.kinetic

@@ -12,7 +12,7 @@ RUN apt-get update && apt-get install -y \
         libeigen3-dev
 
 # Intall some basic GUI and sound libs
-RUN apt-get install -y \
+RUN apt-get update && apt-get install -y \
         xz-utils file locales dbus-x11 pulseaudio dmz-cursor-theme \
         fonts-dejavu fonts-liberation hicolor-icon-theme \
         libcanberra-gtk3-0 libcanberra-gtk-module libcanberra-gtk3-module \
@@ -21,22 +21,16 @@ RUN apt-get install -y \
         && update-locale LANG=en_US.UTF-8 LC_MESSAGES=POSIX
 
 # Intall some basic GUI tools
-RUN apt-get install -y \
+RUN apt-get update && apt-get install -y \
         cmake-qt-gui \
         gnome-terminal
 
 # Intall ROS
 RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-RUN apt-get update && apt-get install -y \
-        ros-kinetic-desktop-full ros-kinetic-nmea-msgs \
-        ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play \
-        ros-kinetic-jsk-visualization ros-kinetic-grid-map \
-        ros-kinetic-gps-common ros-kinetic-controller-manager \
-        ros-kinetic-ros-control ros-kinetic-ros-controllers \
-        ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers \
-        libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev \
-        libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0
+RUN apt-get update && apt-get install -y ros-kinetic-desktop-full ros-kinetic-nmea-msgs ros-kinetic-nmea-navsat-driver ros-kinetic-sound-play ros-kinetic-jsk-visualization ros-kinetic-grid-map ros-kinetic-gps-common
+RUN apt-get update && apt-get install -y ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-gazebo-ros-control ros-kinetic-joystick-drivers
+RUN apt-get update && apt-get install -y libnlopt-dev freeglut3-dev qtbase5-dev libqt5opengl5-dev libssh2-1-dev libarmadillo-dev libpcap-dev gksu libgl1-mesa-dev libglew-dev python-wxgtk3.0 software-properties-common libmosquitto-dev libyaml-cpp-dev python-flask python-requests
 
 # Add basic user
 ENV USERNAME autoware
@@ -65,9 +59,14 @@ RUN sudo rosdep init \
         && rosdep update \
         && echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc
 
+# YOLO_V2
+RUN cd && git clone https://github.com/pjreddie/darknet.git
+RUN cd ~/darknet && git checkout 56d69e73aba37283ea7b9726b81afd2f79cd1134
+RUN cd ~/darknet/data && wget https://pjreddie.com/media/files/yolo.weights
+
 # Install Autoware
-RUN git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware
-RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; catkin_init_workspace; cd ../; ./catkin_make_release'
+RUN cd && git clone https://github.com/CPFL/Autoware.git /home/$USERNAME/Autoware
+RUN /bin/bash -c 'source /opt/ros/kinetic/setup.bash; cd /home/$USERNAME/Autoware/ros/src; git submodule update --init --recursive; catkin_init_workspace; cd ../; ./catkin_make_release'
 RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> /home/$USERNAME/.bashrc
 
 # Setting