* fix(behavior_velocity): calculate detection area from the nearest point from ego (#730)

* fix(behavior_velocity): calculate lateral distance from the beginning of the path

Signed-off-by: Tomohito Ando <[email protected]>

* add argument of min_velocity

Signed-off-by: Tomohito Ando <[email protected]>

* use veloicty from the nearest point from ego

Signed-off-by: Tomohito Ando <[email protected]>

* pass struct by reference

Signed-off-by: Tomohito Ando <[email protected]>

* fix to interpolate point in util

Signed-off-by: Tomohito Ando <[email protected]>

* fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (#700)

* fix(longitudinal_controller_node): parameterize stopped state entry condition

Signed-off-by: satoshi-ota <[email protected]>

* fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE

Signed-off-by: satoshi-ota <[email protected]>

* fix(vehicle_cmd_gate): check time duration since the vehicle stopped

Signed-off-by: satoshi-ota <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* docs(autoware_testing): fix link (#741)

* docs(autoware_testing): fix link

* fix typo

Co-authored-by: Kenji Miyake <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* fix: trajectory visualizer (#745)

Signed-off-by: tomoya.kimura <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* fix(tier4_autoware_utils): modify build error in rolling (#720)

* fix(tier4_autoware_utils): modify build error in rolling

Signed-off-by: wep21 <[email protected]>

* fix(lanelet2_extension): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(ekf_localizer): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(freespace_planning_algorithms): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(interpolation): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(freespace_planner): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(lane_departure_checker): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(map_based_prediction): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(ground_segmentation): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(motion_velocity_smoother): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(multi_object_tracker): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(trajectory_follower): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(control_performance_analysis): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(detected_object_validation): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(goal_distance_calculator): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(ndt_scan_matcher): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(route_handler): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(behavior_path_planner): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(mission_planner): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(obstacle_avoidance_planner): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(obstacle_stop_planner): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(obstacle_collision_checker): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(shape_estimation): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(behavior_velocity_planner): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(path_distance_calculator): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(detection_by_tracker): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(surround_obstacle_checker): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(tier4_debug_tools): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(pure_pursuit): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(trajectory_follower_nodes): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(traffic_light_map_based_detector): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(planning_error_monitor): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(planning_evaluator): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>

* fix(lidar_centerpoint): add target compile definition for geometry2

Signed-off-by: wep21 <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* fix(behavior_velocity): handle the case when finding index failed (#746)

Signed-off-by: Tomohito Ando <[email protected]>

* feat: add scene module of dynamic obstacle stop

Signed-off-by: Tomohito Ando <[email protected]>

* fix warnings

Signed-off-by: Tomohito Ando <[email protected]>

* add temporary debug value

Signed-off-by: Tomohito Ando <[email protected]>

* add feature to go after stopping

Signed-off-by: Tomohito Ando <[email protected]>

* fix parameter namespace

Signed-off-by: Tomohito Ando <[email protected]>

* use planner util

Signed-off-by: Tomohito Ando <[email protected]>

* fix calculation when multiple obstacles are detected in one step polygon

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary debug

Signed-off-by: Tomohito Ando <[email protected]>

* add option to apply limit jerk

Signed-off-by: Tomohito Ando <[email protected]>

* Modify parameter name

Signed-off-by: Tomohito Ando <[email protected]>

* Add param file

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary comments

Signed-off-by: Tomohito Ando <[email protected]>

* add feature to exclude obstacles outside of partition

Signed-off-by: Tomohito Ando <[email protected]>

* modify search distance for partitions

Signed-off-by: Tomohito Ando <[email protected]>

* apply voxel grid filter to input points

Signed-off-by: Tomohito Ando <[email protected]>

* set smoother param by passing node instance

Signed-off-by: Tomohito Ando <[email protected]>

* add parameter for velocity limit (temporary)

Signed-off-by: Tomohito Ando <[email protected]>

* add dynamic reconfigure

Signed-off-by: Tomohito Ando <[email protected]>

* add debug value

Signed-off-by: Tomohito Ando <[email protected]>

* avoid acceleration when stopping for obstacles

Signed-off-by: Tomohito Ando <[email protected]>

* fix lateral distance to publish distance from vehicle side

Signed-off-by: Tomohito Ando <[email protected]>

* modify the location to publish longitudinal distance

Signed-off-by: Tomohito Ando <[email protected]>

* fix calculation of stop index

Signed-off-by: Tomohito Ando <[email protected]>

* use current velocity for stop dicision

Signed-off-by: Tomohito Ando <[email protected]>

* add dynamic parameter for slow down limit

Signed-off-by: Tomohito Ando <[email protected]>

* add debug value to display passing dist

Signed-off-by: Tomohito Ando <[email protected]>

* modify stopping velocity

Signed-off-by: Tomohito Ando <[email protected]>

* update param

Signed-off-by: Tomohito Ando <[email protected]>

* use smoother in planner data

Signed-off-by: Tomohito Ando <[email protected]>

* use path with lane id instead of trajectory

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary data check

Signed-off-by: Tomohito Ando <[email protected]>

* extend path to consider obstacles after the end of the path

Signed-off-by: Tomohito Ando <[email protected]>

* rename public member variables

Signed-off-by: Tomohito Ando <[email protected]>

* remove unused paramter

Signed-off-by: Tomohito Ando <[email protected]>

* create detection area using util

Signed-off-by: Tomohito Ando <[email protected]>

* fix visualization of stop distance marker

Signed-off-by: Tomohito Ando <[email protected]>

* make option for detection method easier to understand

Signed-off-by: Tomohito Ando <[email protected]>

* remove parameter about whether to enable this feature

Signed-off-by: Tomohito Ando <[email protected]>

* calculate and publish debug data in function

Signed-off-by: Tomohito Ando <[email protected]>

* use compare map filtered points

Signed-off-by: Tomohito Ando <[email protected]>

* add comment

Signed-off-by: Tomohito Ando <[email protected]>

* fix visualization of detection area when calculation of stop distance failed

Signed-off-by: Tomohito Ando <[email protected]>

* add option whether to specify the jerk

Signed-off-by: Tomohito Ando <[email protected]>

* fix format

Signed-off-by: Tomohito Ando <[email protected]>

* change parameter name

Signed-off-by: Tomohito Ando <[email protected]>

* remove dynamic reconfigure

Signed-off-by: Tomohito Ando <[email protected]>

* delete unused file

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary comments

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary includes

Signed-off-by: Tomohito Ando <[email protected]>

* add launcher for compare map

Signed-off-by: Tomohito Ando <[email protected]>

* add launch and config for dynamic obstacle stop planner

Signed-off-by: Tomohito Ando <[email protected]>

* fix finding package name

Signed-off-by: Tomohito Ando <[email protected]>

* handle the change of util

Signed-off-by: Tomohito Ando <[email protected]>

* relay points for simulation

Signed-off-by: Tomohito Ando <[email protected]>

* update parameter

Signed-off-by: Tomohito Ando <[email protected]>

* fix position and color of stop line marker

Signed-off-by: Tomohito Ando <[email protected]>

* pre-commit fixes

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary comments

Signed-off-by: Tomohito Ando <[email protected]>

* fix Copyright

Co-authored-by: Yukihiro Saito <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* fix Copyright

Signed-off-by: Tomohito Ando <[email protected]>

* fix typo

Signed-off-by: Tomohito Ando <[email protected]>

* add documents for dynamic obstacle stop module

Signed-off-by: Tomohito Ando <[email protected]>

* ci(pre-commit): autofix

Signed-off-by: Tomohito Ando <[email protected]>

* update documents

Signed-off-by: Tomohito Ando <[email protected]>

* docs: begin a sentence with a capital letter

Signed-off-by: Tomohito Ando <[email protected]>

* docs: replace predicted with smoothed for path velocity

Signed-off-by: Tomohito Ando <[email protected]>

* create interface class to switch method

Signed-off-by: Tomohito Ando <[email protected]>

* run compare map filter only when points method is used

Signed-off-by: Tomohito Ando <[email protected]>

* delete unused functions

Signed-off-by: Tomohito Ando <[email protected]>

* rename functions for inserting velocity

Signed-off-by: Tomohito Ando <[email protected]>

* rename parameter of path_size to max_prediction_time

Signed-off-by: Tomohito Ando <[email protected]>

* fix(behavior_velocity_planner): dynamic obstacle stop planner docs

Signed-off-by: Makoto Kurihara <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* fix(behavior_velocity_planner): add ego vehicle description

Signed-off-by: Makoto Kurihara <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* fix(behavior_velocity_planner): change space to hyphen

Signed-off-by: Makoto Kurihara <[email protected]>
Signed-off-by: Tomohito Ando <[email protected]>

* change smoothed to expected target velocity

Signed-off-by: Tomohito Ando <[email protected]>

* Start a sentence in figure with a capital letter

Signed-off-by: Tomohito Ando <[email protected]>

* fix typo

Signed-off-by: Tomohito Ando <[email protected]>

* use voxel distance based compare map

Signed-off-by: Tomohito Ando <[email protected]>

* select detection method from param file

Signed-off-by: Tomohito Ando <[email protected]>

* do not launch as default for now

Signed-off-by: Tomohito Ando <[email protected]>

* rename dynamic_obstacle_stop to run_out

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary change

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary changes

Signed-off-by: Tomohito Ando <[email protected]>

* remove unnecessary changes

Signed-off-by: Tomohito Ando <[email protected]>

* fix typo

Signed-off-by: Tomohito Ando <[email protected]>

* change default to false

Signed-off-by: Tomohito Ando <[email protected]>

* update cmake to build run_out module

Signed-off-by: Tomohito Ando <[email protected]>

* add launch_run_out parameter

Signed-off-by: Tomohito Ando <[email protected]>

* Add note for compare map filtered points

Signed-off-by: Tomohito Ando <[email protected]>

* handle the change for virtual wall marker

Signed-off-by: Tomohito Ando <[email protected]>

* rename the parameters for smoother

Signed-off-by: Tomohito Ando <[email protected]>

* fix build error in humble

Signed-off-by: Tomohito Ando <[email protected]>

* fix build error in humble

Signed-off-by: Tomohito Ando <[email protected]>

* launch compare map only when run out module is enabled

Signed-off-by: Tomohito Ando <[email protected]>

* update a document

Signed-off-by: Tomohito Ando <[email protected]>

* add calculation time for modify path

Signed-off-by: Tomohito Ando <[email protected]>

* update a document

Signed-off-by: Tomohito Ando <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: Esteve Fernandez <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Tomoya Kimura <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
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