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feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior #1541
feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior #1541
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Codecov ReportBase: 10.33% // Head: 10.10% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1541 +/- ##
==========================================
- Coverage 10.33% 10.10% -0.24%
==========================================
Files 1152 1221 +69
Lines 76248 90492 +14244
Branches 18750 22813 +4063
==========================================
+ Hits 7883 9145 +1262
- Misses 59453 71683 +12230
- Partials 8912 9664 +752
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…ode behavior Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
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@yukkysaito |
@rej55 |
Signed-off-by: Fumiya Watanabe <[email protected]>
@taikitanaka3 |
launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml
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…ving.launch.xml Co-authored-by: taikitanaka3 <[email protected]>
@rej55 @taikitanaka3 It is the screenshot of movie in PR description. So I don't know about hash |
Ok, I see. |
@yukkysaito |
@satoshi-ota |
Signed-off-by: Fumiya Watanabe <[email protected]>
Signed-off-by: Fumiya Watanabe <[email protected]>
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LGTM
Signed-off-by: Fumiya Watanabe <[email protected]>
@TakaHoribe |
…ode behavior (tier4#1541) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior Signed-off-by: Fumiya Watanabe <[email protected]> * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): revert namespace Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): reset auto mode just only related uuid Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_auto_mode_manager): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(tier4_planning_launch): launch rtc_auto_mode_manager Signed-off-by: Fumiya Watanabe <[email protected]> * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml Co-authored-by: taikitanaka3 <[email protected]> * fix(rtc_interface): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(behavior_velocity_planner): fix initialization in crosswalk module Signed-off-by: Fumiya Watanabe <[email protected]> * feat(rtc_auto_mode_manager): fix initialization Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <[email protected]>
…ode behavior (tier4#1541) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior Signed-off-by: Fumiya Watanabe <[email protected]> * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): revert namespace Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): reset auto mode just only related uuid Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_auto_mode_manager): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(tier4_planning_launch): launch rtc_auto_mode_manager Signed-off-by: Fumiya Watanabe <[email protected]> * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml Co-authored-by: taikitanaka3 <[email protected]> * fix(rtc_interface): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(behavior_velocity_planner): fix initialization in crosswalk module Signed-off-by: Fumiya Watanabe <[email protected]> * feat(rtc_auto_mode_manager): fix initialization Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <[email protected]>
…ode behavior (tier4#1541) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior Signed-off-by: Fumiya Watanabe <[email protected]> * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): revert namespace Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): reset auto mode just only related uuid Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_auto_mode_manager): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(tier4_planning_launch): launch rtc_auto_mode_manager Signed-off-by: Fumiya Watanabe <[email protected]> * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml Co-authored-by: taikitanaka3 <[email protected]> * fix(rtc_interface): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(behavior_velocity_planner): fix initialization in crosswalk module Signed-off-by: Fumiya Watanabe <[email protected]> * feat(rtc_auto_mode_manager): fix initialization Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <[email protected]>
…ode behavior (tier4#1541) * feat(rtc_auto_mode_manager): add rtc_auto_mode_manager and fix auto mode behavior Signed-off-by: Fumiya Watanabe <[email protected]> * ci(pre-commit): autofix * fix(rtc_auto_mode_manager): fix typo Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): revert namespace Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_interface): reset auto mode just only related uuid Signed-off-by: Fumiya Watanabe <[email protected]> * fix(rtc_auto_mode_manager): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(tier4_planning_launch): launch rtc_auto_mode_manager Signed-off-by: Fumiya Watanabe <[email protected]> * Update launch/tier4_planning_launch/launch/scenario_planning/lane_driving.launch.xml Co-authored-by: taikitanaka3 <[email protected]> * fix(rtc_interface): fix Signed-off-by: Fumiya Watanabe <[email protected]> * fix(behavior_velocity_planner): fix initialization in crosswalk module Signed-off-by: Fumiya Watanabe <[email protected]> * feat(rtc_auto_mode_manager): fix initialization Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <[email protected]>
Signed-off-by: Fumiya Watanabe [email protected]
Description
RTC Auto Approver
had a problem that behavior velocity planning module inserts stop line for a moment becauseRTC Auto Approver
sends a command after receiving RTC status from the planning module.To solve this problem, I add the function to approve automatically to
rtc_interface
.Furthermore, I removed approving function from
RTC Auto Approver
.So,
RTC Auto Approver
just has the function to set default value to enable auto mode.To clarify the function, I rename
RTC Auto Approver
toRTC Auto Mode Manager
.The behavior of auto mode is changed as following:
cooperate_commands
when auto mode is enabledcooperate_commands
and turns off the auto modeRelated links
Tests performed
Tested in planning simulator.
2022-09-13-10-59-03.mp4
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