feat: enable vehicle engage on manual driving #1051

TakaHoribe · 2022-06-07T05:12:32Z

Description

New feature to enable vehicle engaging (change from Manual to Autonomous mode) safely.

engage_transition_manager (new node): checks the engage availability (no strong acceleration, no fast steering, etc.) and ensures that the transition to Autonomous is completed properly
- TODO: multithreaded support for mode change service
- TODO: re-think engage_available condition
message definition: feat(tier4_vehicle_msgs): add new msgs for engage-on-driving tier4/tier4_autoware_msgs#36
vehicle_cmd_gate: add new filter used for transition state
pacmod_interface: enable control_mode_request
simple_planning_simulator: feat(simple_planning_simulator): add control_mode server #1061
motion_velocity_smoother: enable calculation from ego velocity when manual driving

Tests performed

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chore: sync upstream

Signed-off-by: Kenji Miyake <[email protected]>

chore: sync upstream

Signed-off-by: Kenji Miyake <[email protected]>

chore: sync upstream

* chore: sync files Signed-off-by: GitHub <[email protected]> * ci(pre-commit): autofix Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]>

…of diag name (#639)

chore: sync upstream

fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)

* chore: sync files Signed-off-by: GitHub <[email protected]> * Revert "chore: sync files" This reverts commit b24f530. Signed-off-by: Kenji Miyake <[email protected]> * sync codecov.yaml Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]>

…age (#666) * fix(autoware_state_panel): fix message type for /api/autoware/get/engage Signed-off-by: h-ohta <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: sync upstream

…834) Signed-off-by: tanaka3 <[email protected]>

Signed-off-by: Kenji Miyake <[email protected]>

* fix(system_monitor): fix build error on tegra platform Signed-off-by: Shark Liu <[email protected]> * ci(pre-commit): autofix * Update system/system_monitor/src/gpu_monitor/tegra_gpu_monitor.cpp Co-authored-by: Shark Liu <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <[email protected]>

* release v0.4.0 * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <[email protected]> * Revert "remove ROS1 packages temporarily" This reverts commit d6a59ac4c3762cb58ce6ca3e2cb31b3b8fc810ea. Signed-off-by: mitsudome-r <[email protected]> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <[email protected]> * Rename launch files to launch.xml (autowarefoundation#28) * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Port euclidean cluster (autowarefoundation#120) * porting CmakeLists.txt and package.xml in progress * ported CMakeLists.txt and package.xml to ROS2 * Ported euclidean_cluster from ROS1 to ROS2 * deleted unnecesary files * fixed transient_local Co-authored-by: Takamasa Horibe <[email protected]> * Fix perception launches (autowarefoundation#240) * fix roi_cluster_fusion launch Signed-off-by: Takamasa Horibe <[email protected]> * add comment on launch Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> * Ros2 v0.8.0 euclidean cluster (autowarefoundation#310) * restore euclidean cluster files for v0.8.0 update * fix typos in perception (autowarefoundation#862) * Feature/camera lidar perception (autowarefoundation#937) * add object splitter Signed-off-by: Yukihiro Saito <[email protected]> * add object merger Signed-off-by: Yukihiro Saito <[email protected]> * change pkg name Signed-off-by: Yukihiro Saito <[email protected]> * cosmetic change Signed-off-by: Yukihiro Saito <[email protected]> * add comment Signed-off-by: Yukihiro Saito <[email protected]> * remove litter Signed-off-by: Yukihiro Saito <[email protected]> * bug fix : debug code Signed-off-by: Yukihiro Saito <[email protected]> * enable vehicle to unknown track Signed-off-by: Yukihiro Saito <[email protected]> * bug fix * add object position in clustering * 🚮 * change param * fix name * bug fix * add install * Feature/fusion debug (autowarefoundation#1051) * add debuger * change param * add publisher * Revert "restore euclidean cluster files for v0.8.0 update" This reverts commit 894cb8746622b4eb88f2cf1b036cc8c94ab1ac96. * fix bug * use containter to launch nodelet * add line * [euclidean_cluster]: Fix launch python and CMakeLists.txt Signed-off-by: wep21 <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: wep21 <[email protected]> * add use_sim-time option (autowarefoundation#454) * Format launch files (autowarefoundation#1219) Signed-off-by: Kenji Miyake <[email protected]> * Unify Apache-2.0 license name (autowarefoundation#1242) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <[email protected]> * Fix lint errors (autowarefoundation#1378) * Fix lint errors Signed-off-by: Kenji Miyake <[email protected]> * Fix variable names Signed-off-by: Kenji Miyake <[email protected]> * Porting euclidean cluster (autowarefoundation#1291) * create config for euclidean cluster (autowarefoundation#1206) * create config * fix EOF * fix cmake list (autowarefoundation#1208) * Add load_composable_node_param Signed-off-by: Kenji Miyake <[email protected]> * Use tier4 voxel grid filter Signed-off-by: wep21 <[email protected]> * Refactor voxel grid based euclidean cluster launch Signed-off-by: wep21 <[email protected]> * Fix launch xml tag Signed-off-by: wep21 <[email protected]> * Add missing arguments Signed-off-by: wep21 <[email protected]> * Fix pointcloud subscriber qos Signed-off-by: wep21 <[email protected]> * Fix dependency in CMakeLists.txt Signed-off-by: wep21 <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: wep21 <[email protected]> * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <[email protected]> * Fix mistake Signed-off-by: Kenji Miyake <[email protected]> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <[email protected]> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> * Invoke code formatter at pre-commit (autowarefoundation#1935) * Run ament_uncrustify at pre-commit * Reformat existing files * Fix copyright and cpplint errors Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Feature/clustering lib (autowarefoundation#1914) * change to lib for detection by tracking * refactor * apply format * Detection by tracker (autowarefoundation#1910) * initial commit * backup * apply format * cosmetic change * implement divided under segmenterd clusters * cosmetic change * bug fix * bug fix * bug fix * modify launch * add debug and bug fix * bug fix * bug fix * add no found tracked object * modify parameters and cmake * bug fix * remove debug info * add readme * modify clustering launch * run pre-commit * cosmetic change * cosmetic change * cosmetic change * apply markdownlint * modify launch * modify for cpplint * modify qos * change int to size_T * bug fix * change perception qos * Update perception/object_recognition/detection/detection_by_tracker/package.xml Co-authored-by: Daisuke Nishimatsu <[email protected]> * cosmetic change * cosmetic change * fix launch * Update perception/object_recognition/detection/detection_by_tracker/src/utils.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * modify header include order * change include order * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * change to std::optional * cosmetic change * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * Update perception/object_recognition/detection/detection_by_tracker/src/detection_by_tracker_core.cpp Co-authored-by: Daisuke Nishimatsu <[email protected]> * bug fix * modify readme Co-authored-by: Daisuke Nishimatsu <[email protected]> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <[email protected]> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <[email protected]> * Apply Black Signed-off-by: Kenji Miyake <[email protected]> * Apply clang-format Signed-off-by: Kenji Miyake <[email protected]> * Fix build errors Signed-off-by: Kenji Miyake <[email protected]> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <[email protected]> * Apply clang-format Signed-off-by: Kenji Miyake <[email protected]> * Fix build errors Signed-off-by: Kenji Miyake <[email protected]> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <[email protected]> * port euclidean_cluster (autowarefoundation#533) * delete COLCON_IGNORE * change dynamic_object_with_feature_array to detected_objects_with_feature * add classification * add classification.probability * add README of euclidean_cluster (autowarefoundation#614) * add README of euclidean_cluster * add period Co-authored-by: Kazuki Miyahara <[email protected]> * update README Co-authored-by: Kazuki Miyahara <[email protected]> * auto fix no ground pointcloud topic name (autowarefoundation#704) * fix/rename segmentation namespace (autowarefoundation#742) * rename segmentation directory * fix namespace: system stack * fix namespace: planning * fix namespace: control stack * fix namespace: perception stack * fix readme Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: Nikolai Morin <[email protected]> Co-authored-by: nik-tier4 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Takeshi Ishita <[email protected]> Co-authored-by: Yusuke Muramatsu <[email protected]> Co-authored-by: Satoshi OTA <[email protected]>

Signed-off-by: Takamasa Horibe <[email protected]>

chore: sync upstream

fix(vehicle_cmd_gate): initialization handling for emergency state (#1077)

chore: sync upstream

TakaHoribe · 2022-06-14T03:12:59Z

@yukkysaito Still WIP though. You can see the state transition code here.

Signed-off-by: Takamasa Horibe <[email protected]>

chore: sync upstream

Signed-off-by: Takamasa Horibe <[email protected]>

…into feature/engage-on-driving

Signed-off-by: Takamasa Horibe <[email protected]>

TakaHoribe · 2022-07-07T23:26:51Z

Moved to #1246

…ormulation (autowarefoundation#4600) (autowarefoundation#1051) * feat(obstacle_avoidance_planner): re-formulate for faster QP * minor change * update * fix --------- Signed-off-by: Takayuki Murooka <[email protected]>

kenji-miyake and others added 30 commits January 24, 2022 18:00

Merge pull request #1 from autowarefoundation/tier4/proposal

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Merge pull request #3 from autowarefoundation/tier4/proposal

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ci: add sync-upstream.yaml (#4)

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Merge pull request #5 from tier4/sync-upstream

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ci(sync-upstream): update settings (#19)

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Merge pull request #17 from tier4/sync-upstream

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chore: sync upstream

chore: sync files (#629)

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* chore: sync files Signed-off-by: GitHub <[email protected]> * ci(pre-commit): autofix Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

chore: sync files (#637)

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Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]>

fix(dummy_diag_publisher): use anon to make unique node name instead …

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…of diag name (#639)

Merge pull request #32 from tier4/sync-upstream

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Merge branch 'tier4/main' into sync-upstream

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Merge pull request #33 from tier4/sync-upstream

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chore: sync upstream

Merge pull request #35 from tier4/sync-upstream

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fix(obstacle_stop_planner): use utils function to caluculate nearest index from ego (#651)

Merge pull request #36 from tier4/sync-upstream

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Merge pull request #37 from tier4/sync-upstream

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Merge pull request #43 from tier4/sync-upstream

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chore: sync upstream

fix(behavior_velocity): avoid insert same point on trajectory utils (#…

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…834) Signed-off-by: tanaka3 <[email protected]>

refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855)

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Signed-off-by: Kenji Miyake <[email protected]>

TakaHoribe added 3 commits June 9, 2022 05:33

add control-mode in simulator

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Signed-off-by: Takamasa Horibe <[email protected]>

precommit

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Signed-off-by: Takamasa Horibe <[email protected]>

update

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Signed-off-by: Takamasa Horibe <[email protected]>

TakaHoribe force-pushed the feature/engage-on-driving branch 2 times, most recently from 5ac451b to 91f371c Compare June 9, 2022 14:36

yn-mrse and others added 4 commits June 10, 2022 20:36

Merge branch 'tier4/main' into sync-upstream

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Merge pull request #61 from tier4/sync-upstream

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chore: sync upstream

Merge pull request #63 from tier4/sync-upstream

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fix(vehicle_cmd_gate): initialization handling for emergency state (#1077)

Merge pull request #64 from tier4/sync-upstream

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chore: sync upstream

TakaHoribe changed the title ~~feature: enable vehicle engage on manual driving~~ feat: enable vehicle engage on manual driving Jun 14, 2022

TakaHoribe and others added 7 commits June 14, 2022 15:13

update readme

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Signed-off-by: Takamasa Horibe <[email protected]>

Merge pull request #65 from tier4/sync-upstream

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chore: sync upstream

[vehicle_cmd_gate] add transition filter

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Signed-off-by: Takamasa Horibe <[email protected]>

[engage_transition_manager] add pkg

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Signed-off-by: Takamasa Horibe <[email protected]>

update

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Signed-off-by: Takamasa Horibe <[email protected]>

fix gate

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Signed-off-by: Takamasa Horibe <[email protected]>

[vehicle_cmd_filter] minor refactor

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Signed-off-by: Takamasa Horibe <[email protected]>

TakaHoribe force-pushed the feature/engage-on-driving branch from a874937 to bbf0f58 Compare June 20, 2022 05:03

TakaHoribe added 5 commits June 20, 2022 15:49

tmp

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change name

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Merge remote-tracking branch 'origin/feature/simulator-control-mode' …

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…into feature/engage-on-driving

update state_transition_manager

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Signed-off-by: Takamasa Horibe <[email protected]>

[TMP] update simple_planning_simulator

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Signed-off-by: Takamasa Horibe <[email protected]>

TakaHoribe closed this Jul 7, 2022

TakaHoribe deleted the feature/engage-on-driving branch July 12, 2023 09:52

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feat: enable vehicle engage on manual driving #1051

feat: enable vehicle engage on manual driving #1051

TakaHoribe commented Jun 7, 2022 •

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TakaHoribe commented Jun 14, 2022

TakaHoribe commented Jul 7, 2022

feat: enable vehicle engage on manual driving #1051

feat: enable vehicle engage on manual driving #1051

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TakaHoribe commented Jun 7, 2022 • edited Loading

Description

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Tests performed

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TakaHoribe commented Jun 14, 2022

TakaHoribe commented Jul 7, 2022

TakaHoribe commented Jun 7, 2022 •

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