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fix(trajectory_follower): add max_dist/max_yaw for nearest index search #1063

Merged
merged 4 commits into from
Jun 10, 2022
Merged

fix(trajectory_follower): add max_dist/max_yaw for nearest index search #1063

merged 4 commits into from
Jun 10, 2022

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YoheiMishina
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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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codecov bot commented Jun 9, 2022 •
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Codecov Report

Merging #1063 (9740040) into main (4c910ac) will increase coverage by 0.17%.
The diff coverage is 67.08%.

@@           Coverage Diff            @@
##            main   #1063      +/-   ##
========================================
+ Coverage   9.04%   9.21%   +0.17%     
========================================
  Files       1013    1013              
  Lines      68787   68954     +167     
  Branches   11583   11736     +153     
========================================
+ Hits        6221    6354     +133     
- Misses     57397   57400       +3     
- Partials    5169    5200      +31
Flag Coverage Δ *Carryforward flag
differential 47.89% <49.27%> (?)
total 9.02% <62.26%> (ø) Carriedforward from 8cd4485

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...jectory_follower/longitudinal_controller_utils.hpp 38.70% <57.14%> (+3.70%) ⬆️
...llower/test/test_longitudinal_controller_utils.cpp 61.28% <65.38%> (+8.27%) ⬆️
...ollower_nodes/src/longitudinal_controller_node.cpp 43.53% <66.66%> (+1.73%) ⬆️
...ory_follower/src/longitudinal_controller_utils.cpp 81.11% <81.81%> (+2.16%) ⬆️

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takayuki5168
takayuki5168 reviewed Jun 9, 2022
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control/trajectory_follower/include/trajectory_follower/longitudinal_controller_utils.hpp Outdated
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

control/trajectory_follower/src/longitudinal_controller_utils.cpp Outdated
Comment on lines 66 to 67
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

@takayuki5168 takayuki5168 changed the title fix(trajectory_follower)Fix/calculate stopdist u turn fix(trajectory_follower): add max_dist/max_yaw for nearest index search Jun 9, 2022
@YoheiMishina YoheiMishina merged commit fc6d1a2 into autowarefoundation:main Jun 10, 2022
@YoheiMishina YoheiMishina deleted the fix/calculate_stopdist_u-turn branch June 10, 2022 03:02
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jun 10, 2022
Merged
yn-mrse referenced this pull request in tier4/autoware.universe Jun 10, 2022
@YoheiMishina @pre-commit-ci @yn-mrse
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
6d3c606 
…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>
SoohyeokPark-MORAI pushed a commit to SoohyeokPark-MORAI/autoware.universe that referenced this pull request Jun 15, 2022
@YoheiMishina @pre-commit-ci @SoohyeokPark-MORAI
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
0e0a630 
…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]>
SoohyeokPark-MORAI pushed a commit to SoohyeokPark-MORAI/autoware.universe that referenced this pull request Jun 15, 2022
@YoheiMishina @pre-commit-ci @SoohyeokPark-MORAI
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
9c9a046 
…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>
@kosuke55 kosuke55 mentioned this pull request Jun 22, 2022
Merged
7 tasks
yukkysaito pushed a commit to yukkysaito/autoware.universe that referenced this pull request Jun 29, 2022
@taikitanaka3 @wep21
@kenji-miyake @0x126 @scepter914 @tkimura4 @mitsudome-r @isamu-takagi @kmiya @k0suke-murakami @TakaHoribe @vios-fish @adamdbrw @h-ohta @KeisukeShima @takayuki5168 @rej55 @maxime-clem @niosus @kokosabu @mkuri
feat: trajectory follower libraries (autowarefoundation#83)
dfe48bd 
* 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]>
boyali referenced this pull request in boyali/autoware.universe Jul 1, 2022
@YoheiMishina @pre-commit-ci @boyali
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
109cc84 
…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>
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@YoheiMishina @pre-commit-ci @boyali
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
b1e1d3c 
…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>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@YoheiMishina @pre-commit-ci @boyali
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
52385a0 
…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>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@YoheiMishina @pre-commit-ci @boyali
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
0da0a2b 
…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>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@YoheiMishina @pre-commit-ci @boyali
fix(trajectory_follower): add max_dist/max_yaw for nearest index sear…
32cd393 
…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>
sykwer pushed a commit to sykwer/autoware.universe that referenced this pull request Jan 3, 2024
@satoshi-ota
fix(avoidance): fix avoidance return dead point calculation logic for…
18f12e4 
… high curverture path (autowarefoundation#5489) (autowarefoundation#1063)

Signed-off-by: satoshi-ota <[email protected]>
satoshi-ota added a commit to satoshi-ota/autoware.universe that referenced this pull request Jan 14, 2024
@satoshi-ota
fix(avoidance): fix avoidance return dead point calculation logic for…
9a6da84 
… high curverture path (autowarefoundation#5489) (autowarefoundation#1063)

Signed-off-by: satoshi-ota <[email protected]>
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@takayuki5168 takayuki5168 takayuki5168 approved these changes

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@YoheiMishina @takayuki5168