Merge pull request #9 from usdot-fhwa-stol/release/hudson

Merge release to master for release carma-system-4.1.0
usdot-fhwa-stol · May 31, 2022 · 8b52ad2 · 8b52ad2
2 parents 12ed35d + 590b133
commit 8b52ad2
Show file tree

Hide file tree

Showing 3 changed files with 11 additions and 3 deletions.
diff --git a/.circleci/config.yml b/.circleci/config.yml
@@ -28,7 +28,7 @@ jobs:
     # Pull docker image from docker hub
     # XTERM used for better catkin_make output
     docker:
-      - image: usdotfhwastol/carma-base:carma-system-4.0.0
+      - image: usdotfhwastol/carma-base:carma-system-4.1.0
         user: carma
         environment:
           TERM: xterm

diff --git a/...to/src/launch/autoware_auto_launch/param/component_style/ray_ground_classifier.param.yaml b/...to/src/launch/autoware_auto_launch/param/component_style/ray_ground_classifier.param.yaml
@@ -16,4 +16,4 @@ classifier.max_height_m:                        1.5
 aggregator.min_ray_angle_rad: -3.14159
 aggregator.max_ray_angle_rad:  3.14159
 aggregator.ray_width_rad:      0.01
-aggregator.max_ray_points:     512
+aggregator.max_ray_points:     512 # Cannot be increased as 512 is a hardcoded max. Only decreasing is possible
diff --git a/AutowareAuto/src/perception/filters/ray_ground_classifier/src/ray_aggregator.cpp b/AutowareAuto/src/perception/filters/ray_ground_classifier/src/ray_aggregator.cpp
@@ -19,6 +19,7 @@
 #include <cstdint>
 #include <limits>
 #include <stdexcept>
+#include <iostream>
 
 #include "common/types.hpp"
 #include "lidar_utils/lidar_utils.hpp"
@@ -131,18 +132,25 @@ void RayAggregator::end_of_scan()
 ////////////////////////////////////////////////////////////////////////////////
 bool8_t RayAggregator::insert(const PointXYZIFR & pt)
 {
+  static bool print_overflow = true;
   if (static_cast<uint16_t>(PointXYZIF::END_OF_SCAN_ID) == pt.get_point_pointer()->id) {
     return false;
   } else {
     const std::size_t idx = bin(pt);
 
     Ray & ray = m_rays[idx];
     if (RayState::RESET == m_ray_state[idx]) {
+      print_overflow = true;
       ray.clear();  // capacity unchanged
       m_ray_state[idx] = RayState::NOT_READY;
     }
     if (ray.size() >= ray.capacity()) {
-      throw std::runtime_error("RayAggregator: Ray capacity overrun! Use smaller bins");
+      if (print_overflow) {
+        std::cerr << "RayAggregator: Ray capacity overrun! Use smaller bins" << std::endl;
+        print_overflow = false;
+      }
+      return false;
+      //throw std::runtime_error("RayAggregator: Ray capacity overrun! Use smaller bins"); // NOTE see https://github.com/usdot-fhwa-stol/carma-platform/issues/1776 to understand why this is disabled
     }
     // insert point to ray, do some presorting
     ray.push_back(pt);