feat: add 'obstacle_velocity_limiter' package #1579
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Codecov ReportBase: 10.77% // Head: 12.56% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1579 +/- ##
==========================================
+ Coverage 10.77% 12.56% +1.79%
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Files 1186 731 -455
Lines 84834 59940 -24894
Branches 19889 18609 -1280
==========================================
- Hits 9138 7531 -1607
+ Misses 66012 43636 -22376
+ Partials 9684 8773 -911
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Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
Signed-off-by: Maxime CLEMENT <[email protected]>
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Signed-off-by: Maxime CLEMENT <[email protected]>
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Signed-off-by: Maxime CLEMENT <[email protected]>
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Signed-off-by: Maxime CLEMENT <[email protected]>
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HansRobo
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* Initial commit with barebone SafeVelocityAdjustorNode Signed-off-by: Maxime CLEMENT <[email protected]> * Add debug topics, launch file, and config file Signed-off-by: Maxime CLEMENT <[email protected]> * Fix debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Fix dynamic parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Add proper collision detection and debug footprint Implements Proposal 1. Calculation of the adjusted velocity still needs to be improved Signed-off-by: Maxime CLEMENT <[email protected]> * Add script to compare the original and adjusted velocity profiles Signed-off-by: Maxime CLEMENT <[email protected]> * Fix calculation of distance to obstacle Signed-off-by: Maxime CLEMENT <[email protected]> * Add test for calculation collision distance Signed-off-by: Maxime CLEMENT <[email protected]> * Add launch file to test the safe_velocity_adjustor with a bag Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup code and add tests for forwardSimulatedVector Signed-off-by: Maxime CLEMENT <[email protected]> * Simplify collision detection by not using a footprint polygon Signed-off-by: Maxime CLEMENT <[email protected]> * Add filtering of the dynamic objects from the pointcloud Signed-off-by: Maxime CLEMENT <[email protected]> * [DEBUG] Print runtimes of expensive functions Signed-off-by: Maxime CLEMENT <[email protected]> * Add trajectory downsampling to boost performance + improve debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Modify velocity only from ego pose + distance parameter Signed-off-by: Maxime CLEMENT <[email protected]> * Add 1st Eigen version of distanceToClosestCollision + benchmark Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to using contours from occupancy grid for collision checking Filtering of dynamic objects is not great Signed-off-by: Maxime CLEMENT <[email protected]> * Add buffer around dynamic obstacles to avoid false obstacle detection Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to limit the adjusted velocity Signed-off-by: Maxime CLEMENT <[email protected]> * Use vehicle_info_util to get vehicle footprint Signed-off-by: Maxime CLEMENT <[email protected]> * Calculate accurate distance to collision + add tests Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter for the min velocity where a dynamic obstacle is ignored Signed-off-by: Maxime CLEMENT <[email protected]> * Add README and some pictures to explain the node inner workings Signed-off-by: Maxime CLEMENT <[email protected]> * Update scenario_planning.launch.xml to run the new node Signed-off-by: Maxime CLEMENT <[email protected]> * Fix format of launch files Signed-off-by: Maxime CLEMENT <[email protected]> * Update launcher and rviz config used for debuging with bag Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup debug publishing Signed-off-by: Maxime CLEMENT <[email protected]> * Complete tests of collision_distance.hpp Signed-off-by: Maxime CLEMENT <[email protected]> * Add docstring + Small code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Improve test of occupancy_grid_utils Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug when setting parameter callback before getting vehicle parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Rename safe_velocity_adjustor to apparent_safe_velocity_limiter Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (apparent_safe_velocity_limiter_node) Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (occupancy_grid_utils) Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (collision_distance) Signed-off-by: Maxime CLEMENT <[email protected]> * Add exec of trajectory_visualizer.py in launch files Signed-off-by: Maxime CLEMENT <[email protected]> * Mask trajectory footprint from the occupancy grid (might be expensive) Signed-off-by: Maxime CLEMENT <[email protected]> * Filter out the occupancy grid that is outside the envelope polygon Signed-off-by: Maxime CLEMENT <[email protected]> * Add improved PolygonIterator using scan line algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Use autoware_cmake for dependencies Signed-off-by: Maxime CLEMENT <[email protected]> * Improve performances of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Minor cleanup of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Use improved iterator + add benchmark (max/avg/med) to node Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Switch from set to vector/list in PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Remove PolygonIterator and use implementation from grid_map_utils Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to limit deceleration when adjusting the velocity Signed-off-by: Maxime CLEMENT <[email protected]> * Code cleanup, move type decl and debug functions to separate files Signed-off-by: Maxime CLEMENT <[email protected]> * Add support for collision detection using pointcloud Signed-off-by: Maxime CLEMENT <[email protected]> * Code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Speedup pointcloud filtering (still ~100ms on bags) Signed-off-by: Maxime CLEMENT <[email protected]> * Improve envelope calculation and use separate node for pcd downsampling Signed-off-by: Maxime CLEMENT <[email protected]> * Add ProjectionParameters to prepare for the bicycle model projection Signed-off-by: Maxime CLEMENT <[email protected]> * Add bicycle projection with various steering offsets Signed-off-by: Maxime CLEMENT <[email protected]> * Update docstring Signed-off-by: Maxime CLEMENT <[email protected]> * Major refactoring, calculate envelope from footprints Signed-off-by: Maxime CLEMENT <[email protected]> * Add extraction of static obstacles from lanelet map Signed-off-by: Maxime CLEMENT <[email protected]> * Remove stopwatch Signed-off-by: Maxime CLEMENT <[email protected]> * Add arc distance calculation when using bicycle projection Signed-off-by: Maxime CLEMENT <[email protected]> * Fix multi geometry definitions in tier4_autoware_utils/boost_geometry Signed-off-by: Maxime CLEMENT <[email protected]> * Improve geometry operations to take advantage of Eigen Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to min/max offset and simplify footprint calculations Signed-off-by: Maxime CLEMENT <[email protected]> * Fix unit tests (unset params.heading) Signed-off-by: Maxime CLEMENT <[email protected]> * Add option to filter obstacles using the safety envelope Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug with distance calculation and improve debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Update README Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to set map obstacles by linestring id (for debug) Signed-off-by: Maxime CLEMENT <[email protected]> * Move param structures to dedicated file and add PreprocessingParameters Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to calculate steering angle of trajectory points Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup footprint generation Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug with debug marker ids Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug where the VelocityParameters were not constructed Signed-off-by: Maxime CLEMENT <[email protected]> * Update obstacles extraction Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to collision detection using rtree Signed-off-by: Maxime CLEMENT <[email protected]> * Add publishing of the runtime (in microseconds) Signed-off-by: Maxime CLEMENT <[email protected]> * Add option to ignore obstacles on the trajectory Signed-off-by: Maxime CLEMENT <[email protected]> * Add max length and max duration parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Restructure Obstacles structure to separate lines and points for speedup Signed-off-by: Maxime CLEMENT <[email protected]> * Convert obstacle linestrings to segments when used in the rtree Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter for extra distance when filtering the ego path Signed-off-by: Maxime CLEMENT <[email protected]> * Fix issues caused by rebase Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Update to run with looping bag replay Signed-off-by: Maxime CLEMENT <[email protected]> * Add debug markers for obstacle masks and only publish when subscribed Signed-off-by: Maxime CLEMENT <[email protected]> * Update README Signed-off-by: Maxime CLEMENT <[email protected]> * Fix humble build issue with PCL library Signed-off-by: Maxime CLEMENT <[email protected]> * Update obstacle extraction from lanelet map (no longer based on route) Signed-off-by: Maxime CLEMENT <[email protected]> * Optimize use of rtree + use naive collision checking with few obstacles Signed-off-by: Maxime CLEMENT <[email protected]> * Remove debug code and update default parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Do not wait for self pose Signed-off-by: Maxime CLEMENT <[email protected]> * Rename to obstacle_velocity_limiter Signed-off-by: Maxime CLEMENT <[email protected]> * More minor cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Update READEME.md Signed-off-by: Maxime CLEMENT <[email protected]> * Update README to have the purpose written before the illustration Signed-off-by: Maxime CLEMENT <[email protected]> * Update copyright notice: Tier IV -> TIER IV Signed-off-by: Maxime CLEMENT <[email protected]> * Remove use_sim_time param from node launch file Signed-off-by: Maxime CLEMENT <[email protected]> * Update launch files to run in the motion_planner + add launch config Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Kotaro Yoshimoto <[email protected]>
YoshiRi
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Jan 11, 2023
* Initial commit with barebone SafeVelocityAdjustorNode Signed-off-by: Maxime CLEMENT <[email protected]> * Add debug topics, launch file, and config file Signed-off-by: Maxime CLEMENT <[email protected]> * Fix debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Fix dynamic parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Add proper collision detection and debug footprint Implements Proposal 1. Calculation of the adjusted velocity still needs to be improved Signed-off-by: Maxime CLEMENT <[email protected]> * Add script to compare the original and adjusted velocity profiles Signed-off-by: Maxime CLEMENT <[email protected]> * Fix calculation of distance to obstacle Signed-off-by: Maxime CLEMENT <[email protected]> * Add test for calculation collision distance Signed-off-by: Maxime CLEMENT <[email protected]> * Add launch file to test the safe_velocity_adjustor with a bag Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup code and add tests for forwardSimulatedVector Signed-off-by: Maxime CLEMENT <[email protected]> * Simplify collision detection by not using a footprint polygon Signed-off-by: Maxime CLEMENT <[email protected]> * Add filtering of the dynamic objects from the pointcloud Signed-off-by: Maxime CLEMENT <[email protected]> * [DEBUG] Print runtimes of expensive functions Signed-off-by: Maxime CLEMENT <[email protected]> * Add trajectory downsampling to boost performance + improve debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Modify velocity only from ego pose + distance parameter Signed-off-by: Maxime CLEMENT <[email protected]> * Add 1st Eigen version of distanceToClosestCollision + benchmark Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to using contours from occupancy grid for collision checking Filtering of dynamic objects is not great Signed-off-by: Maxime CLEMENT <[email protected]> * Add buffer around dynamic obstacles to avoid false obstacle detection Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to limit the adjusted velocity Signed-off-by: Maxime CLEMENT <[email protected]> * Use vehicle_info_util to get vehicle footprint Signed-off-by: Maxime CLEMENT <[email protected]> * Calculate accurate distance to collision + add tests Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter for the min velocity where a dynamic obstacle is ignored Signed-off-by: Maxime CLEMENT <[email protected]> * Add README and some pictures to explain the node inner workings Signed-off-by: Maxime CLEMENT <[email protected]> * Update scenario_planning.launch.xml to run the new node Signed-off-by: Maxime CLEMENT <[email protected]> * Fix format of launch files Signed-off-by: Maxime CLEMENT <[email protected]> * Update launcher and rviz config used for debuging with bag Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup debug publishing Signed-off-by: Maxime CLEMENT <[email protected]> * Complete tests of collision_distance.hpp Signed-off-by: Maxime CLEMENT <[email protected]> * Add docstring + Small code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Improve test of occupancy_grid_utils Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug when setting parameter callback before getting vehicle parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Rename safe_velocity_adjustor to apparent_safe_velocity_limiter Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (apparent_safe_velocity_limiter_node) Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (occupancy_grid_utils) Signed-off-by: Maxime CLEMENT <[email protected]> * Move declarations to cpp file (collision_distance) Signed-off-by: Maxime CLEMENT <[email protected]> * Add exec of trajectory_visualizer.py in launch files Signed-off-by: Maxime CLEMENT <[email protected]> * Mask trajectory footprint from the occupancy grid (might be expensive) Signed-off-by: Maxime CLEMENT <[email protected]> * Filter out the occupancy grid that is outside the envelope polygon Signed-off-by: Maxime CLEMENT <[email protected]> * Add improved PolygonIterator using scan line algorithm Signed-off-by: Maxime CLEMENT <[email protected]> * Use autoware_cmake for dependencies Signed-off-by: Maxime CLEMENT <[email protected]> * Improve performances of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Minor cleanup of PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Use improved iterator + add benchmark (max/avg/med) to node Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Switch from set to vector/list in PolygonIterator Signed-off-by: Maxime CLEMENT <[email protected]> * Remove PolygonIterator and use implementation from grid_map_utils Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to limit deceleration when adjusting the velocity Signed-off-by: Maxime CLEMENT <[email protected]> * Code cleanup, move type decl and debug functions to separate files Signed-off-by: Maxime CLEMENT <[email protected]> * Add support for collision detection using pointcloud Signed-off-by: Maxime CLEMENT <[email protected]> * Code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Speedup pointcloud filtering (still ~100ms on bags) Signed-off-by: Maxime CLEMENT <[email protected]> * Improve envelope calculation and use separate node for pcd downsampling Signed-off-by: Maxime CLEMENT <[email protected]> * Add ProjectionParameters to prepare for the bicycle model projection Signed-off-by: Maxime CLEMENT <[email protected]> * Add bicycle projection with various steering offsets Signed-off-by: Maxime CLEMENT <[email protected]> * Update docstring Signed-off-by: Maxime CLEMENT <[email protected]> * Major refactoring, calculate envelope from footprints Signed-off-by: Maxime CLEMENT <[email protected]> * Add extraction of static obstacles from lanelet map Signed-off-by: Maxime CLEMENT <[email protected]> * Remove stopwatch Signed-off-by: Maxime CLEMENT <[email protected]> * Add arc distance calculation when using bicycle projection Signed-off-by: Maxime CLEMENT <[email protected]> * Fix multi geometry definitions in tier4_autoware_utils/boost_geometry Signed-off-by: Maxime CLEMENT <[email protected]> * Improve geometry operations to take advantage of Eigen Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to min/max offset and simplify footprint calculations Signed-off-by: Maxime CLEMENT <[email protected]> * Fix unit tests (unset params.heading) Signed-off-by: Maxime CLEMENT <[email protected]> * Add option to filter obstacles using the safety envelope Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug with distance calculation and improve debug markers Signed-off-by: Maxime CLEMENT <[email protected]> * Update README Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to set map obstacles by linestring id (for debug) Signed-off-by: Maxime CLEMENT <[email protected]> * Move param structures to dedicated file and add PreprocessingParameters Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter to calculate steering angle of trajectory points Signed-off-by: Maxime CLEMENT <[email protected]> * Cleanup footprint generation Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug with debug marker ids Signed-off-by: Maxime CLEMENT <[email protected]> * Fix bug where the VelocityParameters were not constructed Signed-off-by: Maxime CLEMENT <[email protected]> * Update obstacles extraction Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Switch to collision detection using rtree Signed-off-by: Maxime CLEMENT <[email protected]> * Add publishing of the runtime (in microseconds) Signed-off-by: Maxime CLEMENT <[email protected]> * Add option to ignore obstacles on the trajectory Signed-off-by: Maxime CLEMENT <[email protected]> * Add max length and max duration parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Restructure Obstacles structure to separate lines and points for speedup Signed-off-by: Maxime CLEMENT <[email protected]> * Convert obstacle linestrings to segments when used in the rtree Signed-off-by: Maxime CLEMENT <[email protected]> * Add parameter for extra distance when filtering the ego path Signed-off-by: Maxime CLEMENT <[email protected]> * Fix issues caused by rebase Signed-off-by: Maxime CLEMENT <[email protected]> * Minor code cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Update to run with looping bag replay Signed-off-by: Maxime CLEMENT <[email protected]> * Add debug markers for obstacle masks and only publish when subscribed Signed-off-by: Maxime CLEMENT <[email protected]> * Update README Signed-off-by: Maxime CLEMENT <[email protected]> * Fix humble build issue with PCL library Signed-off-by: Maxime CLEMENT <[email protected]> * Update obstacle extraction from lanelet map (no longer based on route) Signed-off-by: Maxime CLEMENT <[email protected]> * Optimize use of rtree + use naive collision checking with few obstacles Signed-off-by: Maxime CLEMENT <[email protected]> * Remove debug code and update default parameters Signed-off-by: Maxime CLEMENT <[email protected]> * Do not wait for self pose Signed-off-by: Maxime CLEMENT <[email protected]> * Rename to obstacle_velocity_limiter Signed-off-by: Maxime CLEMENT <[email protected]> * More minor cleanup Signed-off-by: Maxime CLEMENT <[email protected]> * Update READEME.md Signed-off-by: Maxime CLEMENT <[email protected]> * Update README to have the purpose written before the illustration Signed-off-by: Maxime CLEMENT <[email protected]> * Update copyright notice: Tier IV -> TIER IV Signed-off-by: Maxime CLEMENT <[email protected]> * Remove use_sim_time param from node launch file Signed-off-by: Maxime CLEMENT <[email protected]> * Update launch files to run in the motion_planner + add launch config Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: Maxime CLEMENT <[email protected]> Signed-off-by: yoshiri <[email protected]>
technolojin
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Oct 28, 2024
…tersection fix(intersection): set RTC enable (autowarefoundation#9040)
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Description
This PR adds a new package
obstacle_velocity_limiterthat is used to increase the feeling of safety by limiting the velocity when driving towards obstacles (e.g., in curves).Related links
Tests performed
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