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fix(trajectory_follower): add max_dist/max_yaw for nearest index search #1063
fix(trajectory_follower): add max_dist/max_yaw for nearest index search #1063
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Codecov Report
@@ Coverage Diff @@
## main #1063 +/- ##
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+ Coverage 9.04% 9.21% +0.17%
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Files 1013 1013
Lines 68787 68954 +167
Branches 11583 11736 +153
========================================
+ Hits 6221 6354 +133
- Misses 57397 57400 +3
- Partials 5169 5200 +31
*This pull request uses carry forward flags. Click here to find out more.
Continue to review full report at Codecov.
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TRAJECTORY_FOLLOWER_PUBLIC TrajectoryPoint | ||
lerpTrajectoryPoint(const T & points, const Point & point) | ||
TRAJECTORY_FOLLOWER_PUBLIC TrajectoryPoint lerpTrajectoryPoint( | ||
const T & points, const Pose & pose, const float64_t & max_dist, const float64_t & max_yaw) |
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&
is not required for primitive type argument (float64_t in this case)
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I fixed this commit 9740040
const Pose & current_pose, const Trajectory & traj, const float64_t & max_dist, | ||
const float64_t & max_yaw) |
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Same as above coment. & is not required for float64_t
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I fixed this commit 9740040
…ch (#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ch (autowarefoundation#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: SoohyeokPark-MORAI <[email protected]>
…ch (autowarefoundation#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Ros2 v0.8.0 lane departure checker (autowarefoundation#327) * Add lane departure checker (autowarefoundation#928) Signed-off-by: Kenji Miyake <[email protected]> * Fix bug of lane_departure_checker (autowarefoundation#1011) * Fix bug of lane_departure_checker Since preceeding lanelets are missing, when vehicle is at the beginning of a lanelet, it's mistakenly considered as out of lane. Signed-off-by: Kenji Miyake <[email protected]> * Fix typo Signed-off-by: Kenji Miyake <[email protected]> * Reduce computational cost of lane_departure_checker (autowarefoundation#1026) Lanelet visualization will be too slow when big lanelets are visualized. Signed-off-by: Kenji Miyake <[email protected]> * Fix typo (autowarefoundation#1062) Signed-off-by: Kenji Miyake <[email protected]> * [lane_departure_checker]: Port to ROS2 Signed-off-by: wep21 <[email protected]> * [lane_departure_checker]: Fix lint Signed-off-by: wep21 <[email protected]> * [autoware_utils]: Publish autoware debug msgs Signed-off-by: wep21 <[email protected]> * [lane_departure_checker]: Use autoware_debug_msgs instead of std_msgs Signed-off-by: wep21 <[email protected]> * [goal_distance_calculator]: Use autoware_debug_msgs instead of std_msgs Signed-off-by: wep21 <[email protected]> * [autoware_utils]: Add namespace to debug traits Signed-off-by: wep21 <[email protected]> * [lane_departure_checker]: Fix lint Signed-off-by: wep21 <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Ros2 v0.8.0 obstacle collision checker (autowarefoundation#316) * Feature/obstacle collision checker (autowarefoundation#1063) * Add template * Remove unnecessary code * Add obstacle_collision_checker * add braking distance * delete unuse file * change resample traj * Format files Signed-off-by: Kenji Miyake <[email protected]> * Add author Signed-off-by: Kenji Miyake <[email protected]> * Remove vehicle_footprint visualization Signed-off-by: Kenji Miyake <[email protected]> * Move package under control/trajectory_follower Signed-off-by: Kenji Miyake <[email protected]> * Add space Signed-off-by: Kenji Miyake <[email protected]> * Fix visualization error Signed-off-by: Kenji Miyake <[email protected]> * Remove comment out lines Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * ros2 porting * remove "dynamic_reconfigure" * fix CMAKELists.txt & apply lint * fix paramCallback * remove unnecessary comment * fix include statement Co-authored-by: Satoshi Tanaka <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Ros2 v0.8.0 fix packages (autowarefoundation#351) * add subscription to QoS * add vihicle_param _file to simple_planning_sim * update cmake/packages.xml * comment out unused parameter * apply lint * add vehicle_info_util to lane_change_planner * add vehicle_info_util to vehicle_cmd_gate * fix cmake of simple planning simulator * update cmake/packages.xml of vehicle cmd gate * apply lint * apply lint * add latch option to autoware_state_monitor * delete unused comment Signed-off-by: tanaka3 <[email protected]> * Rename ROS-related .yaml to .param.yaml (autowarefoundation#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake <[email protected]> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake <[email protected]> * Fix overlooked parameters Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Fix/lane departure checker (autowarefoundation#386) * Fix/lane departure checker (autowarefoundation#1177) * Add more processing time measurement Signed-off-by: Kenji Miyake <[email protected]> * Rename processing_time to processing_time_ms Signed-off-by: Kenji Miyake <[email protected]> * Refactor StopWatch class Signed-off-by: Kenji Miyake <[email protected]> * apply ament_uncrustify Signed-off-by: mitsudome-r <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Ros2 fix topic name part1 (autowarefoundation#408) * Fix topic name of lane_departure_checker debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of mpc_follower debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of velocity_controller debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of motion_velocity_optimizer debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of lane_change_planner debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of behavior_velocity_planner debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of obstacle_avoidance_planner debug Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of motion_velocity_optimizer Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of lane_departure_checker Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of mpc_follower Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of behavior_velocity_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of velocity_controller Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of obstacle_avoidance_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of obstacle_stop_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of surround_obstacle_checker Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of costmap_generator Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of emergency_handler Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint errors Signed-off-by: Takagi, Isamu <[email protected]> * Fix typo Signed-off-by: Takagi, Isamu <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Fix typo in control module (autowarefoundation#428) * Fix typo in control module * Change admissible_yaw_error to admissible_yaw_error_rad * Change 90.0 deg to 1.57 rad and remove trailing whitespace Signed-off-by: tanaka3 <[email protected]> * fix duration (autowarefoundation#445) * fix duration Signed-off-by: Kosuke Murakami <[email protected]> * change to from_seconds Signed-off-by: Kosuke Murakami <[email protected]> * fix other duration Signed-off-by: Kosuke Murakami <[email protected]> * replace -1 with 0 Signed-off-by: Kosuke Murakami <[email protected]> * apply ament_lint_common Signed-off-by: Kosuke Murakami <[email protected]> * uncrustify Signed-off-by: Kosuke Murakami <[email protected]> * add space Signed-off-by: Kosuke Murakami <[email protected]> * add another space Signed-off-by: Kosuke Murakami <[email protected]> Signed-off-by: tanaka3 <[email protected]> * add use_sim-time option (autowarefoundation#454) Signed-off-by: tanaka3 <[email protected]> * Ros2 delete vehicle info (autowarefoundation#1227) * remove dependency on vehicle info in autoware_utils * delete vehicle_info in autoware_utils Signed-off-by: tanaka3 <[email protected]> * Sync public repo (autowarefoundation#1228) * [simple_planning_simulator] add readme (autowarefoundation#424) * add readme of simple_planning_simulator Signed-off-by: Takamasa Horibe <[email protected]> * Update simulator/simple_planning_simulator/README.md * set transit_margin_time to intersect. planner (autowarefoundation#460) * Fix pose2twist (autowarefoundation#462) Signed-off-by: Takagi, Isamu <[email protected]> * Ros2 vehicle info param server (autowarefoundation#447) * add vehicle_info_param_server * update vehicle info * apply format * fix bug * skip unnecessary search * delete vehicle param file * fix bug * Ros2 fix topic name part2 (autowarefoundation#425) * Fix topic name of traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of traffic_light_visualization Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of traffic_light_map_based_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_recognition Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix issues in hdd_reader (autowarefoundation#466) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct * fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463) * Rviz overlay render fix (autowarefoundation#461) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <[email protected]> * super class now back to MFD Signed-off-by: Adam Dabrowski <[email protected]> * uncrustified Signed-off-by: Adam Dabrowski <[email protected]> * acquire data in mutex Signed-off-by: Adam Dabrowski <[email protected]> * back to RTD as superclass Signed-off-by: Adam Dabrowski <[email protected]> * Rviz overlay render in update (autowarefoundation#465) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <[email protected]> * super class now back to MFD Signed-off-by: Adam Dabrowski <[email protected]> * uncrustified Signed-off-by: Adam Dabrowski <[email protected]> * acquire data in mutex Signed-off-by: Adam Dabrowski <[email protected]> * removed unnecessary includes and some dead code Signed-off-by: Adam Dabrowski <[email protected]> * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass Signed-off-by: Adam Dabrowski <[email protected]> * restored RTD superclass Signed-off-by: Adam Dabrowski <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: Makoto Tokunaga <[email protected]> Co-authored-by: Adam Dąbrowski <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Unify Apache-2.0 license name (autowarefoundation#1242) Signed-off-by: tanaka3 <[email protected]> * Make control modules components (autowarefoundation#1262) Signed-off-by: wep21 <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Remove vehicle info param server (autowarefoundation#1304) * Remove vehicle info param server Signed-off-by: wep21 <[email protected]> * Fix ament_uncrustify Signed-off-by: Kenji Miyake <[email protected]> * Fix ament_uncrustify Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Refactor vehicle info util (autowarefoundation#1305) * Update license Signed-off-by: Kenji Miyake <[email protected]> * Refactor vehicle_info_util Signed-off-by: Kenji Miyake <[email protected]> * Rename and split files Signed-off-by: Kenji Miyake <[email protected]> * Fix interfaces Signed-off-by: Kenji Miyake <[email protected]> * Fix bug and add error handling Signed-off-by: Kenji Miyake <[email protected]> * Add "// namespace" Signed-off-by: Kenji Miyake <[email protected]> * Add missing include Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Fix/fix utils (autowarefoundation#1310) * Add missing namespace to autoware_utils Signed-off-by: Kenji Miyake <[email protected]> * Add createVehicleInfo Signed-off-by: Kenji Miyake <[email protected]> * Add rethrow Signed-off-by: Kenji Miyake <[email protected]> * Format package.xml Signed-off-by: Kenji Miyake <[email protected]> * Fix usage of autoware_utils Signed-off-by: Kenji Miyake <[email protected]> * Add missing namespace comment Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Initialize Input and Output struct correctly to avoid the undefined behavior (autowarefoundation#1408) * Initialize Input and Output struct correctly to avoid the undefined behavior This fixes the following UBSan error: ``` /src/autoware/autoware.iv/control/trajectory_follower/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:363:15: runtime error: load of value 104, which is not a valid value for type 'bool' src/autoware/autoware.iv/control/trajectory_follower/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp:358:15: runtime error: load of value 114, which is not a valid value for type 'bool' ``` * Improve how to initialize struct with NSDMI (non-static data member initializer) * Fix styles Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[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]> Signed-off-by: tanaka3 <[email protected]> * Feature/expand footprint (autowarefoundation#1757) Signed-off-by: tanaka3 <[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 Signed-off-by: tanaka3 <[email protected]> * Fix processing time output of lane_departure_checker (autowarefoundation#2071) Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Fix missing declare_parameter of lane_departure_checker (autowarefoundation#2073) * Fix missing declare_parameter of lane_departure_checker Signed-off-by: Kenji Miyake <[email protected]> * Change marker color Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * reduce lanelet calc of lane_departure_checker (improved logic) (#2102) * reduce lanelet calc of lane_departure_checker (improved logic) * fix ament_cpplint error (delete redundant blank line) * modify createVehiclePassingAreas not to use unnecessary local variable Signed-off-by: tanaka3 <[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]> Signed-off-by: tanaka3 <[email protected]> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <[email protected]> Signed-off-by: tanaka3 <[email protected]> * port obstacle collision checker (autowarefoundation#481) * port obstacle collision checker * remove COLCON_IGNORE * use odometry instead of twist * rename topic name input/twist -> input/odometry * add nav_msgs Co-authored-by: Takayuki Murooka <[email protected]> Signed-off-by: tanaka3 <[email protected]> * port lane_departure_checker (autowarefoundation#499) * Use autoware_auto_msgs * Fix document * Remove COLCON_IGNORE * Use TrajectoryPointArray for resampling * Rename TrajectoryPointArray to TrajectoryPoints, fix order of member variable Signed-off-by: tanaka3 <[email protected]> * add readme to obstacle collision checker (autowarefoundation#541) * add readme to obstacle collision checker * fix spelling * Format Doc Co-authored-by: Kazuki Miyahara <[email protected]> * Fix Typo Co-authored-by: Kazuki Miyahara <[email protected]> * Remove Duplicated Co-authored-by: Kazuki Miyahara <[email protected]> * update readme * To publish diag error * Update readme Co-authored-by: tkimura4 <[email protected]> * fix uml Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: tkimura4 <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Back port .auto control packages (autowarefoundation#571) * Implement Lateral and Longitudinal Control Muxer * [autowarefoundation#570] Porting wf_simulator * [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes' * [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer' * [autowarefoundation#1057] Add osqp_interface package * [autowarefoundation#1057] Add library code for MPC-based lateral control * [autowarefoundation#1271] Use std::abs instead of abs * [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD * [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase" * [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes' * [autowarefoundation#1058] Add library code of longitudinal controller * Fix build error for trajectory follower Signed-off-by: wep21 <[email protected]> * Fix build error for trajectory follower nodes Signed-off-by: wep21 <[email protected]> * [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator * [autowarefoundation#1058] Add Longitudinal Controller node * [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller * [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node * [autowarefoundation#1058] Add smoke test python launch file * [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower * [autowarefoundation#1058] Use autoware_auto_msgs * [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener) * [autowarefoundation#1058] Remove unused parameters * [autowarefoundation#1058] Fix ros test * [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types * [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test * [autowarefoundation#1058] Fix docstring * [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState * [autowarefoundation#1058] Change class variables format to m_ prefix * [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt * [autowarefoundation#1058] Fix copyright dates * [autowarefoundation#1058] Reorder includes * [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests) * [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests) * [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope * [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters * [autowarefoundation#1058] Cleanup redundant logger setting in tests * [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures * [autowarefoundation#1058] Remove TF listener and use published vehicle state instead * [autowarefoundation#1058] Change smoke tests to use autoware_testing * [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control * [autowarefoundation#1058] Improve design documents * [autowarefoundation#1058] Disable flaky test * [autowarefoundation#1058] Properly transform vehicle state in longitudinal node * [autowarefoundation#1058] Fix TF buffer of lateral controller * [autowarefoundation#1058] Tuning of lateral controller for LGSVL * [autowarefoundation#1058] Fix formating * [autowarefoundation#1058] Fix /tf_static sub to be transient_local * [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller * modify trajectory_follower for galactic build Signed-off-by: Takamasa Horibe <[email protected]> * [autowarefoundation#1379] Update trajectory_follower * [autowarefoundation#1379] Update simple_planning_simulator * [autowarefoundation#1379] Update trajectory_follower_nodes * apply trajectory msg modification in control Signed-off-by: Takamasa Horibe <[email protected]> * move directory Signed-off-by: Takamasa Horibe <[email protected]> * remote control/trajectory_follower level dorectpry Signed-off-by: Takamasa Horibe <[email protected]> * remove .iv trajectory follower Signed-off-by: Takamasa Horibe <[email protected]> * use .auto trajectory_follower Signed-off-by: Takamasa Horibe <[email protected]> * remove .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <[email protected]> * use .iv simple_planning_simulator & osqp_interface Signed-off-by: Takamasa Horibe <[email protected]> * add tmp_autoware_auto_dependencies Signed-off-by: Takamasa Horibe <[email protected]> * tmporally add autoware_auto_msgs Signed-off-by: Takamasa Horibe <[email protected]> * apply .auto message split Signed-off-by: Takamasa Horibe <[email protected]> * fix build depend Signed-off-by: Takamasa Horibe <[email protected]> * fix packages using osqp * fix autoware_auto_geometry * ignore lint of some packages * ignore ament_lint of some packages * ignore lint/pre-commit of trajectory_follower_nodes * disable unit tests of some packages Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Joshua Whitley <[email protected]> Co-authored-by: Igor Bogoslavskyi <[email protected]> Co-authored-by: MIURA Yasuyuki <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: tomoya.kimura <[email protected]> Signed-off-by: tanaka3 <[email protected]> * Fix message interface and tests of 'trajectory_follower_nodes' (autowarefoundation#617) * Update longitudinal_controller_node to use VehicleOdometry * Update lateral_controller_node for VehicleOdometry and SteeringReport * Fix tests Signed-off-by: tanaka3 <[email protected]> * Update lateral controller (autowarefoundation#708) * Fix parameter names of mpc_follower (autowarefoundation#1376) * remove yaw_recalc param in mpc (autowarefoundation#1241) (autowarefoundation#1476) * parameterize curvature num (autowarefoundation#1674) (autowarefoundation#1577) * fix rosparam steer_rate_lim_degs to steer_rate_lim_dps in mpc_follower (autowarefoundation#1848) * Fix spellcheck fail for some packages autowarefoundation#1842 * use interpolation::slerp (autowarefoundation#2161) * Fix/mpc reset prev result (autowarefoundation#2185) * add add guard (autowarefoundation#2184) * add-mpc-optimization-status-print (autowarefoundation#2189) * Apply ament_uncrustify * Update control/trajectory_follower/src/qp_solver/qp_solver_osqp.cpp Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Signed-off-by: tanaka3 <[email protected]> * velocity_controller sync to .iv develop latest (autowarefoundation#699) * non extrapolate velocity in lerpTrajectory to avoid negative velocity just before vehicle stops (autowarefoundation#2033) * Add keep braking function at driving state (autowarefoundation#2346) * Add keep braking function at driving state Signed-off-by: Makoto Kurihara <[email protected]> * Remove debug messages Signed-off-by: Makoto Kurihara <[email protected]> * Fix format Signed-off-by: Makoto Kurihara <[email protected]> * Feature/add doc for keep braking function at driving state (autowarefoundation#2366) * Add the description of brake keeping Signed-off-by: Makoto Kurihara <[email protected]> * Add the english document Signed-off-by: Makoto Kurihara <[email protected]> * Improve description Signed-off-by: Makoto Kurihara <[email protected]> * Add english description Signed-off-by: Makoto Kurihara <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Makoto Kurihara <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Signed-off-by: tanaka3 <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Shinnosuke Hirakawa <[email protected]> Co-authored-by: Satoshi Tanaka <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: Kosuke Murakami <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Makoto Tokunaga <[email protected]> Co-authored-by: Adam Dąbrowski <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: v-hara8206-esol <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Joshua Whitley <[email protected]> Co-authored-by: Igor Bogoslavskyi <[email protected]> Co-authored-by: MIURA Yasuyuki <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Makoto Kurihara <[email protected]>
…ch (tier4#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ch (tier4#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ch (tier4#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ch (tier4#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ch (tier4#1063) * Fix calculate stop dist on utarn trajectory * Fix calculate target point in longitudinal controller * ci(pre-commit): autofix * fixed coding style Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
… high curverture path (autowarefoundation#5489) (autowarefoundation#1063) Signed-off-by: satoshi-ota <[email protected]>
… high curverture path (autowarefoundation#5489) (autowarefoundation#1063) Signed-off-by: satoshi-ota <[email protected]>
Description
In longitudinal controller has search function of index in trajectory points with ego position. However doesn't consider yaw angle between ego pose and trajectory points.
In u-turn case, that function find out incorrect trajectory index.
This PR is consider yaw angle in searching index.
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