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docs(tools_overview): remove autoware_auto_msgs (#184)
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* docs(tools_overview): remove autoware_auto_msgs

Signed-off-by: kminoda <[email protected]>

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Signed-off-by: kminoda <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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kminoda and pre-commit-ci[bot] authored Dec 25, 2024
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56 changes: 29 additions & 27 deletions docs/tools_overview.md
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Expand Up @@ -177,18 +177,20 @@ output: T4 format data

This function is for converting a synthetic bag to T4 format.
Synthetic bag must contain ground truth objects, pointclouds and tf.
`ground_truth/objects` can be either `autoware_auto_perception_msgs/msg/DetectedObjects` or `autoware_auto_perception_msgs/msg/TrackedObjects`.
`ground_truth/objects` can be either `autoware_perception_msgs/msg/DetectedObjects` or `autoware_perception_msgs/msg/TrackedObjects`.

Note that `autoware_auto_perception_msgs` is going to be deprecated (timeline TBD).

#### Messages

| Topic Name | Required | Message Type |
| ----------------------------------------------------------- | -------- | --------------------------------------------------- |
| `/ground_truth/filtered/objects` or `/ground_truth/objects` | o | `autoware_auto_perception_msgs/msg/DetectedObjects` |
| `/sensing/lidar/concatenated/pointcloud` | o | `sensor_msgs/msg/PointCloud2` |
| `/tf` | o | `tf2_msgs/msg/TFMessage` |
| `/tf_static` | o | `tf2_msgs/msg/TFMessage` |
| | | `sensor_msgs/msg/CompressedImage` |
| | | `sensor_msgs/msg/CameraInfo` |
| Topic Name | Required | Message Type |
| ----------------------------------------------------------- | -------- | ---------------------------------------------- |
| `/ground_truth/filtered/objects` or `/ground_truth/objects` | o | `autoware_perception_msgs/msg/DetectedObjects` |
| `/sensing/lidar/concatenated/pointcloud` | o | `sensor_msgs/msg/PointCloud2` |
| `/tf` | o | `tf2_msgs/msg/TFMessage` |
| `/tf_static` | o | `tf2_msgs/msg/TFMessage` |
| | | `sensor_msgs/msg/CompressedImage` |
| | | `sensor_msgs/msg/CameraInfo` |

#### script

Expand All @@ -203,15 +205,15 @@ output: T4 format data

#### Messages

| Topic Name | Required | Message Type |
| --------------------------------------------- | -------- | -------------------------------------------------- |
| `/ground_truth/objects` | o | `autoware_auto_perception_msgs/msg/TrackedObjects` |
| `/sensing/camera/camera{ID}/camera_info` | o | `visualization_msgs/msg/MarkerArray` |
| `/sensing/lidar/concatenated/pointcloud` | o | `sensor_msgs/msg/PointCloud2` |
| `/tf` | o | `tf2_msgs/msg/TFMessage` |
| `/tf_static` | o | `tf2_msgs/msg/TFMessage` |
| `/sensing/camera/camera{ID}/image_rect_color` | o | `sensor_msgs/msg/Image` |
| `/sensing/camera/camera{ID}/camera_info` | o | `sensor_msgs/msg/CameraInfo` |
| Topic Name | Required | Message Type |
| --------------------------------------------- | -------- | --------------------------------------------- |
| `/ground_truth/objects` | o | `autoware_perception_msgs/msg/TrackedObjects` |
| `/sensing/camera/camera{ID}/camera_info` | o | `visualization_msgs/msg/MarkerArray` |
| `/sensing/lidar/concatenated/pointcloud` | o | `sensor_msgs/msg/PointCloud2` |
| `/tf` | o | `tf2_msgs/msg/TFMessage` |
| `/tf_static` | o | `tf2_msgs/msg/TFMessage` |
| `/sensing/camera/camera{ID}/image_rect_color` | o | `sensor_msgs/msg/Image` |
| `/sensing/camera/camera{ID}/camera_info` | o | `sensor_msgs/msg/CameraInfo` |

#### script

Expand All @@ -224,21 +226,21 @@ python -m perception_dataset.convert --config config/rosbag2_to_t4/convert_synth
#### Description

This function is for converting a pseudo-labeled bag to T4 format.
The pseudo-labeled bag contains either detection output or tracking output from Autoware. The detection output is a message of `autoware_auto_perception_msgs/msg/DetectedObjects`, and the tracking output is a message of `autoware_auto_perception_msgs/msg/TrackedObjects`.
The pseudo-labeled bag contains either detection output or tracking output from Autoware. The detection output is a message of `autoware_perception_msgs/msg/DetectedObjects`, and the tracking output is a message of `autoware_perception_msgs/msg/TrackedObjects`.

input: rosbag2
output: T4 format data

#### Messages

| Topic Name | Required | Message Type |
| -------------------------------------------------------------------------------------------------------------------------- | -------- | --------------------------------------------------------------------------------------------------------- |
| `/perception/object_recognition/detection/objects` or `/perception/object_recognition/tracking/objects` or other any value | o | `autoware_auto_perception_msgs/msg/TrackedObjects` or `autoware_auto_perception_msgs/msg/DetectedObjects` |
| `/sensing/lidar/concatenated/pointcloud` or other any value | o | `sensor_msgs/msg/PointCloud2` |
| `/tf` | o | `tf2_msgs/msg/TFMessage` |
| `/tf_static` | o | `tf2_msgs/msg/TFMessage` |
| `/sensing/camera/camera{ID}/image_rect_color/compressed` | | `sensor_msgs/msg/CompressedImage` |
| `/sensing/camera/camera{ID}/camera_info` | | `sensor_msgs/msg/CameraInfo` |
| Topic Name | Required | Message Type |
| -------------------------------------------------------------------------------------------------------------------------- | -------- | ----------------------------------------------------------------------------------------------- |
| `/perception/object_recognition/detection/objects` or `/perception/object_recognition/tracking/objects` or other any value | o | `autoware_perception_msgs/msg/TrackedObjects` or `autoware_perception_msgs/msg/DetectedObjects` |
| `/sensing/lidar/concatenated/pointcloud` or other any value | o | `sensor_msgs/msg/PointCloud2` |
| `/tf` | o | `tf2_msgs/msg/TFMessage` |
| `/tf_static` | o | `tf2_msgs/msg/TFMessage` |
| `/sensing/camera/camera{ID}/image_rect_color/compressed` | | `sensor_msgs/msg/CompressedImage` |
| `/sensing/camera/camera{ID}/camera_info` | | `sensor_msgs/msg/CameraInfo` |

#### script

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