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feat(planning_validator): add planning validator package #1947
feat(planning_validator): add planning validator package #1947
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Codecov ReportBase: 11.37% // Head: 29.44% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1947 +/- ##
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+ Coverage 11.37% 29.44% +18.06%
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Files 1277 12 -1265
Lines 89317 917 -88400
Branches 23653 277 -23376
===========================================
- Hits 10160 270 -9890
+ Misses 68386 442 -67944
+ Partials 10771 205 -10566
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@TakaHoribe |
@taikitanaka3 right. This package is based on the planning_error_monitor and his all features are (will be) inherited to this package. |
1 similar comment
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In addition, the validation of a generated path is also be done by iteratively simulating the control stack on the given trajectory and seeing how well it can follow it by calculating the error.
Is this package going to check for just these? Maybe it'd be better if we can list the features that this node can validate. |
@TakaHoribe |
@xmfcx Thank you for the good advice. The current implementation checks the following items: Ported from
Implemented in this PR
I'll list them in the readme as well. Any comments are welcome. |
@taikitanaka3 Sorry I don't get your point. Does your idea solve the original motivation: "we don't want to send the invalid trajectory to the controller"? |
@TakaHoribe |
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
This reverts commit e81c91b.
Signed-off-by: Takamasa Horibe <[email protected]>
This reverts commit f36c782.
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
Signed-off-by: Takamasa Horibe <[email protected]>
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Signed-off-by: Takamasa Horibe <[email protected]>
{ | ||
rclcpp::NodeOptions node_options; | ||
|
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// for planing validator |
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typo?
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wow
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thank you
#2707
…ndation#1947) * feat(planning_validator): add planning validator package Signed-off-by: Takamasa Horibe <[email protected]> * remove planning_error_monitor Signed-off-by: Takamasa Horibe <[email protected]> * pre-commit Signed-off-by: Takamasa Horibe <[email protected]> * change launch for planning_validator Signed-off-by: Takamasa Horibe <[email protected]> * Revert "remove planning_error_monitor" This reverts commit 90aed51. * restore error_monitor file Signed-off-by: Takamasa Horibe <[email protected]> * add readme Signed-off-by: Takamasa Horibe <[email protected]> * update for debug marker Signed-off-by: Takamasa Horibe <[email protected]> * add debug marker Signed-off-by: Takamasa Horibe <[email protected]> * fix invalid index error Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * add code to calc computation time Signed-off-by: Takamasa Horibe <[email protected]> * use reference arg Signed-off-by: Takamasa Horibe <[email protected]> * Revert "use reference arg" This reverts commit e81c91b. * remove return-vector code Signed-off-by: Takamasa Horibe <[email protected]> * Revert "add code to calc computation time" This reverts commit f36c782. * update debug plot config Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * fix precommit Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * add invalid trajectory handling option Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * Update README.md * update comments Signed-off-by: Takamasa Horibe <[email protected]> * pre-commit Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * use util for marker create Signed-off-by: Takamasa Horibe <[email protected]> * fix tests Signed-off-by: Takamasa Horibe <[email protected]> * update doc! Signed-off-by: Takamasa Horibe <[email protected]> * fix readme Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]>
…ndation#1947) * feat(planning_validator): add planning validator package Signed-off-by: Takamasa Horibe <[email protected]> * remove planning_error_monitor Signed-off-by: Takamasa Horibe <[email protected]> * pre-commit Signed-off-by: Takamasa Horibe <[email protected]> * change launch for planning_validator Signed-off-by: Takamasa Horibe <[email protected]> * Revert "remove planning_error_monitor" This reverts commit 90aed51. * restore error_monitor file Signed-off-by: Takamasa Horibe <[email protected]> * add readme Signed-off-by: Takamasa Horibe <[email protected]> * update for debug marker Signed-off-by: Takamasa Horibe <[email protected]> * add debug marker Signed-off-by: Takamasa Horibe <[email protected]> * fix invalid index error Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * add code to calc computation time Signed-off-by: Takamasa Horibe <[email protected]> * use reference arg Signed-off-by: Takamasa Horibe <[email protected]> * Revert "use reference arg" This reverts commit e81c91b. * remove return-vector code Signed-off-by: Takamasa Horibe <[email protected]> * Revert "add code to calc computation time" This reverts commit f36c782. * update debug plot config Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * fix precommit Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * add invalid trajectory handling option Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * Update README.md * update comments Signed-off-by: Takamasa Horibe <[email protected]> * pre-commit Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * use util for marker create Signed-off-by: Takamasa Horibe <[email protected]> * fix tests Signed-off-by: Takamasa Horibe <[email protected]> * update doc! Signed-off-by: Takamasa Horibe <[email protected]> * fix readme Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Alexey Panferov <[email protected]>
…ndation#1947) * feat(planning_validator): add planning validator package Signed-off-by: Takamasa Horibe <[email protected]> * remove planning_error_monitor Signed-off-by: Takamasa Horibe <[email protected]> * pre-commit Signed-off-by: Takamasa Horibe <[email protected]> * change launch for planning_validator Signed-off-by: Takamasa Horibe <[email protected]> * Revert "remove planning_error_monitor" This reverts commit 90aed51. * restore error_monitor file Signed-off-by: Takamasa Horibe <[email protected]> * add readme Signed-off-by: Takamasa Horibe <[email protected]> * update for debug marker Signed-off-by: Takamasa Horibe <[email protected]> * add debug marker Signed-off-by: Takamasa Horibe <[email protected]> * fix invalid index error Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * add code to calc computation time Signed-off-by: Takamasa Horibe <[email protected]> * use reference arg Signed-off-by: Takamasa Horibe <[email protected]> * Revert "use reference arg" This reverts commit e81c91b. * remove return-vector code Signed-off-by: Takamasa Horibe <[email protected]> * Revert "add code to calc computation time" This reverts commit f36c782. * update debug plot config Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * fix precommit Signed-off-by: Takamasa Horibe <[email protected]> * update readme Signed-off-by: Takamasa Horibe <[email protected]> * add invalid trajectory handling option Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * Update README.md * update comments Signed-off-by: Takamasa Horibe <[email protected]> * pre-commit Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> * use util for marker create Signed-off-by: Takamasa Horibe <[email protected]> * fix tests Signed-off-by: Takamasa Horibe <[email protected]> * update doc! Signed-off-by: Takamasa Horibe <[email protected]> * fix readme Signed-off-by: Takamasa Horibe <[email protected]> * update Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: Takamasa Horibe <[email protected]>
Description
For the Issue: #2605
This PR adds a new
planning_validator
pkg.motivation
planning_validator
will be put at the last stage in the planning module to check the validity of the planning output.Design
plannig_validator
will do some of the following list based on the parameter:Related links
autoware_launch: https://github.com/tier4/autoware_launch/pull/675
(for TIER IV internal tracker: https://tier4.atlassian.net/browse/T4PB-18620)
Tests performed
Now some metrics can be seen here.
planning_vaidator_normal_4-2022-09-24_15.07.49.mp4
Invalid case check:
it is confirmed this PR works for the invalid trajectory. This is the case when the trajectory shape is broken when generating lane change trajectory. (For TIER IV INTERNAL, it can be found in this ticket. )
planning_validator_test-2023-01-02_12.03.12.mp4
Notes for reviewers
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