autoware_multi_object_tracker

Modularized multi object tracker from Autoware Universe

This repository integrates the autoware_multi_object_tracker package for multi-object tracking from Autoware Universe into the OpenADS ecosystem, which emphasizes a modular microservice architecture. Hence, this repository is self-contained and includes only the necessary dependencies.

Important

This repository is a prototypical integration of the autoware_multi_object_tracker into OpenADS for testing and benchmarking purposes. Thus, only necessary changes were made for integration without adopting the Autoware module to the OpenADS consistency guidelines. These adoptions will only be made in case of a full integration into OpenADS after testing and benchmarking.

The following teaser shows tracked objects (pink) using the nuScenes dataset provided by autonomy_datasets.

🚀 Quick Start • 💻 Development • 📝 Documentation

🚀 Quick Start

Start a container of the pre-built runtime image along with autonomy_datasets providing test data from different datasets. Make sure to have dataset files available as described in the README.

# allow graphical output of containers
xhost +local:

# pull and run containers
docker compose up

# stop containers with Ctrl-C

💻 Development

Set up Development Environment

1. Clone the repository.

   git clone https://github.com/thinking-cars/autoware_multi_object_tracker.git

2. Initialize the .openads-dev-environment submodule containing development environment configuration.

   cd autoware_multi_object_tracker
   git submodule update --init --recursive

3. Open the repository in Visual Studio Code.

   code .

4. Install the recommended VS Code extensions.

   Ctrl+Shift+P / Extensions: Show Recommended Extensions / Install Workspace Recommended Extensions (Cloud Download Icon)

5. Reopen in Dev Container or start Docker composition with test data
   1. Option A: Reopen the repository in a Dev Container.

      Ctrl+Shift+P / Dev Containers: Rebuild and Reopen in Container

   2. Option B: Start a Docker container for this repository along with an autonomy_datasets container and attach VS Code to the running container.

      docker compose -f docker-compose.dev.yml up -d Ctrl+Shift+P / Dev Containers: Attach to Running Container...

Build

Ctrl+Shift+B

colcon build

Run Tests

Ctrl+Shift+P / Tasks: Run Test Task

colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
colcon test
colcon test-result --verbose

📝 Documentation

Package and node interfaces are documented in the respective package READMEs listed below. Implementation details are found in the Source Code Documentation.

Package	Description
autoware_multi_object_tracker	The ROS 2 autoware_multi_object_tracker package

⚖️ Licensing

The source code in this repository is licensed under Apache-2.0, see LICENSE. Container images provided by this repository may contain third-party software shipped with their own license terms.

🙏 Acknowledgements

This project is maintained by Thinking Cars. We acknowledge the work of the Autoware contributors and are happy to discuss potential collaborations.