feat(behavior_path_planner): update resampling function #1517

purewater0901 · 2022-08-04T04:57:13Z

Description

Use resampling functions from motion utils and also resample input points. Currently, resample functions in the behavior path planner do not resample input path points, and due to this problem, it sometimes samples points without lanes in the input path when the sampling interval is large.

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

I've confirmed the contribution guidelines.
The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

The PR follows the pull request guidelines.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

There are no open discussions or they are tracked via tickets.

After all checkboxes are checked, anyone who has write access can merge the PR.

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

codecov · 2022-08-04T05:16:04Z

Codecov Report

Merging #1517 (09820b4) into main (cdc120c) will decrease coverage by 0.03%.
The diff coverage is 8.69%.

@@            Coverage Diff             @@
##             main    #1517      +/-   ##
==========================================
- Coverage   10.57%   10.54%   -0.04%     
==========================================
  Files        1113     1113              
  Lines       78486    79423     +937     
  Branches    18339    19016     +677     
==========================================
+ Hits         8302     8377      +75     
- Misses      61522    62302     +780     
- Partials     8662     8744      +82

Flag	Coverage Δ		*Carryforward flag
differential	`10.81% <4.34%> (?)`
total	`10.55% <9.09%> (-0.01%)`	⬇️	Carriedforward from 64389ce

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

Impacted Files	Coverage Δ
...nning/behavior_path_planner/src/path_utilities.cpp	`0.00% <0.00%> (ø)`
common/motion_utils/src/resample/resample.cpp	`55.92% <100.00%> (+7.74%)`	⬆️
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	`73.58% <0.00%> (-9.44%)`	⬇️
...planning_evaluator/src/planning_evaluator_node.cpp	`37.11% <0.00%> (-1.04%)`	⬇️
...nner/src/scene_module/pull_out/pull_out_module.cpp	`0.00% <0.00%> (ø)`
...er/src/scene_module/avoidance/avoidance_module.cpp	`0.00% <0.00%> (ø)`
.../scene_module/utils/geometric_parallel_parking.cpp	`0.00% <0.00%> (ø)`
planning/behavior_path_planner/src/utilities.cpp	`1.38% <0.00%> (+0.34%)`	⬆️
...n/motion_utils/test/src/resample/test_resample.cpp	`26.01% <0.00%> (+0.35%)`	⬆️
... and 1 more

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

tkimura4 · 2022-08-04T06:08:34Z

I confirmed that the bug that behavior modules such as intersection chatter was fixed by this PR.

Before:
https://user-images.githubusercontent.com/59680180/182775101-aff2450b-c1bf-4ff1-aba7-f4b3b38fb223.mp4

After:
https://user-images.githubusercontent.com/59680180/182774926-8b102cb5-a9b3-4319-89d9-e0fd2ea6a422.mp4

taikitanaka3 · 2022-08-04T07:27:09Z

planning/behavior_path_planner/src/path_utilities.cpp

-    resampled_path.points.push_back(p);
-  }
+  constexpr double epsilon = 0.01;
+  const auto has_almost_same_value = [&](const auto & vec, const auto x) {


@purewater0901
[Q] how was almost_same_value(point) handled in behavior path planner previously?

They previously do not sample input points, so it does not handle duplicated points

purewater0901 · 2022-08-04T08:50:07Z

Since the number of failures are increasing when including this PR, please do not approve this PR until we find the problem

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

…ath-resampling-function

* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>

…dation#1517) * feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>

* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>

…dation#1517) * feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>

* feat(behavior_path_planner): update resampling function Signed-off-by: yutaka <[email protected]> * feat(motion_utils): substitute input path initila point informaiton Signed-off-by: yutaka <[email protected]>

…dation#1517) * # This is a combination of 3 commits. # This is the 1st commit message: change processing_time_ms topic name Signed-off-by: Autumn60 <[email protected]> # This is the commit message autowarefoundation#2: style(pre-commit): autofix # This is the commit message autowarefoundation#3: Revert "style(pre-commit): autofix" This reverts commit 1dc1351. * change processing_time_ms topic name Signed-off-by: Autumn60 <[email protected]> style(pre-commit): autofix Revert "style(pre-commit): autofix" This reverts commit 1dc1351. Revert "change processing_time_ms topic name" This reverts commit 6f026f8. change processing_time_ms diag topic name Signed-off-by: Autumn60 <[email protected]> --------- Signed-off-by: Autumn60 <[email protected]>

feat(behavior_path_planner): update resampling function

092e12b

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

purewater0901 requested a review from tkimura4 August 4, 2022 04:57

Merge branch 'main' into feat/update-behavior-path-resampling-function

903a1e9

purewater0901 marked this pull request as ready for review August 4, 2022 06:19

taikitanaka3 reviewed Aug 4, 2022

View reviewed changes

purewater0901 added 2 commits August 4, 2022 18:19

feat(motion_utils): substitute input path initila point informaiton

64389ce

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

Merge branch 'feat/fix-resample-function' into feat/update-behavior-p…

09820b4

…ath-resampling-function

tkimura4 approved these changes Aug 4, 2022

View reviewed changes

purewater0901 merged commit 75d704a into autowarefoundation:main Aug 4, 2022

purewater0901 deleted the feat/update-behavior-path-resampling-function branch August 4, 2022 12:50

tier4-autoware-public-bot bot mentioned this pull request Aug 5, 2022

chore: sync upstream tier4/autoware.universe#88

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

feat(behavior_path_planner): update resampling function #1517

feat(behavior_path_planner): update resampling function #1517

purewater0901 commented Aug 4, 2022 •

edited

Loading

codecov bot commented Aug 4, 2022 •

edited

Loading

tkimura4 commented Aug 4, 2022

taikitanaka3 Aug 4, 2022

purewater0901 Aug 4, 2022

purewater0901 commented Aug 4, 2022

feat(behavior_path_planner): update resampling function #1517

feat(behavior_path_planner): update resampling function #1517

Conversation

purewater0901 commented Aug 4, 2022 • edited Loading

Description

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

codecov bot commented Aug 4, 2022 • edited Loading

Codecov Report

tkimura4 commented Aug 4, 2022

taikitanaka3 Aug 4, 2022

Choose a reason for hiding this comment

purewater0901 Aug 4, 2022

Choose a reason for hiding this comment

purewater0901 commented Aug 4, 2022

purewater0901 commented Aug 4, 2022 •

edited

Loading

codecov bot commented Aug 4, 2022 •

edited

Loading