feat(behavior_velocity_planner): use common calcSignedArcLength #362

kosuke55 · 2022-02-08T03:20:48Z

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#322 (comment)
Since multiple calcSignedArcLengths are defined in each module, use the common one.

detection_area test
https://user-images.githubusercontent.com/39142679/152911319-539510c2-47a3-4e9f-921c-734638544e80.mp4

traffic_light test
https://user-images.githubusercontent.com/39142679/152908576-4d4aa3e3-55f8-48f0-b16c-4aedc49db8c2.mp4

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kosuke55 · 2022-02-08T03:30:14Z

@k-obitsu
Is it the same as what you fixed for in #322?

If we set ego at a position beyond the goal, the stop line disappears. (detection_area video 00:10)

codecov · 2022-02-08T03:44:05Z

Codecov Report

Merging #362 (07ccc7c) into tier4/proposal (4edcdd7) will decrease coverage by 2.39%.
The diff coverage is 0.00%.

@@                Coverage Diff                @@
##           tier4/proposal    #362      +/-   ##
=================================================
- Coverage            9.32%   6.93%   -2.40%     
=================================================
  Files                 700      75     -625     
  Lines               48963    4962   -44001     
  Branches             5818     685    -5133     
=================================================
- Hits                 4566     344    -4222     
+ Misses              40584    4391   -36193     
+ Partials             3813     227    -3586

Impacted Files	Coverage Δ
..._planner/src/scene_module/detection_area/scene.cpp	`0.00% <0.00%> (ø)`
...y_planner/src/scene_module/traffic_light/scene.cpp	`0.00% <0.00%> (ø)`
..._based_prediction/src/map_based_prediction_ros.cpp
...mon/kalman_filter/src/time_delay_kalman_filter.cpp
...gate/include/vehicle_cmd_gate/vehicle_cmd_gate.hpp
...ion/src/voxel_based_compare_map_filter_nodelet.cpp
...ory_follower_nodes/test/test_latlon_muxer_node.cpp
...ocessor/include/pointcloud_preprocessor/filter.hpp
...alization/ekf_localizer/src/ekf_localizer_node.cpp
...th_planner/scene_module/pull_out/pull_out_path.hpp
... and 617 more

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taikitanaka3 · 2022-02-08T06:14:17Z

LooksGood
cc : @yukkysaito

…rcLength Signed-off-by: kosuke55 <[email protected]>

* release v0.4.0 * add obstacle avoid param (autowarefoundation#62) * Feature/add stop reason lane change (autowarefoundation#69) * add blocked by obstacle * add stop reason topic to lane change planner * Revert "add blocked by obstacle" This reverts commit 1f5ecdb30c04f7ee70a4b3271bb2099c44752801. * removed ROS1 package Signed-off-by: mitsudome-r <[email protected]> * Revert "removed ROS1 package" This reverts commit c914e2e16fed7726f8748e1f936b061f051eaf8f. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <[email protected]> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <[email protected]> * port planning launch Signed-off-by: Takamasa Horibe <[email protected]> * add missing porting Signed-off-by: Takamasa Horibe <[email protected]> * replace rostopic pub with executable in behavior_planning.launch.xml Signed-off-by: mitsudome-r <[email protected]> * fix remapping of topics in launch files Signed-off-by: mitsudome-r <[email protected]> * modify integer parameters to double parameters Signed-off-by: mitsudome-r <[email protected]> * fix arguments in parking.launch.xml Signed-off-by: mitsudome-r <[email protected]> * fix remapping of topics in scenario_planning.launch.xml Signed-off-by: mitsudome-r <[email protected]> * ROS2 Linting: planning_launch (autowarefoundation#38) * Ros2 port autoware launch (autowarefoundation#35) * [autoware_launch] port CMakelists.txt and remove COLCON_IGNORE Signed-off-by: mitsudome-r <[email protected]> * [autoware_launch] fix planning_simulator.launch.xml Signed-off-by: mitsudome-r <[email protected]> * [autoware_launch] add rviz config Signed-off-by: mitsudome-r <[email protected]> * [autoware_launch] first port of autoware_launch Signed-off-by: mitsudome-r <[email protected]> * lanuch rviz with config file Signed-off-by: kosuke murakami <[email protected]> * modify launch file for making psim work Signed-off-by: kosuke murakami <[email protected]> * add vehicle model in launch Signed-off-by: kosuke murakami <[email protected]> * change from vehicle_model to vehicle_param_file Signed-off-by: kosuke murakami <[email protected]> * [autoware_launch] add autoware_web_controller and system launch Signed-off-by: mitsudome-r <[email protected]> * add rosbrdige_suite to build_depends.repos Signed-off-by: mitsudome-r <[email protected]> * Update rviz Signed-off-by: wep21 <[email protected]> * update autoware.rviz Signed-off-by: mitsudome-r <[email protected]> * remove autoware_ros2.rviz Signed-off-by: mitsudome-r <[email protected]> Co-authored-by: kosuke murakami <[email protected]> Co-authored-by: wep21 <[email protected]> * Ros2 v0.8.0 planning launch (autowarefoundation#59) * [planning_launch] restore file name for ros2 porting Signed-off-by: Takamasa Horibe <[email protected]> * Add obstacle_stop_planner.yaml (autowarefoundation#82) Signed-off-by: Kenji Miyake <[email protected]> * add surround obstacle checker options (autowarefoundation#86) * fix slow down param related to tier4/autoware.iv@a9cdcb2 (autowarefoundation#91) * fix parame max_steer_deg (autowarefoundation#92) * add refine_goal_search_radius_range (autowarefoundation#93) * Change default evaluation in motion velocity optimizer (autowarefoundation#97) * Use Linf * Add new line * Add maximum_deceleration parameter (autowarefoundation#98) * Add maximum_deceleration parameter * Change default value * Unable abort lane change (autowarefoundation#102) * add param stoping velocity and fix typo (autowarefoundation#106) * Add a parameter for minimum velocity for lane change (autowarefoundation#109) * Add parameters for collision check for lane change (autowarefoundation#110) * Add a parameter for disable collision check at prepare phase * Add parameters for collision check with predicted_path * Add a parameter for backward buffer for end of lane (autowarefoundation#114) * Add parameters for backward buffer for end of lane * Remove comment out * add extend_distance param (autowarefoundation#107) * add parameter of acc (autowarefoundation#129) Signed-off-by: Yuma Nihei <[email protected]> * fix typo & change static object velocity thres in lane_change_planner (autowarefoundation#104) * change static object velocity thres Signed-off-by: Kosuke Murakami <[email protected]> * fix typo Signed-off-by: Kosuke Murakami <[email protected]> * Change minimum_lane_change_velocity (autowarefoundation#131) * Feature/update avoidance param (autowarefoundation#140) * update avoidance param Signed-off-by: Kosuke Murakami <[email protected]> * disable unnecesarry marker Signed-off-by: Kosuke Murakami <[email protected]> * modify min_behavior_stop_margin (autowarefoundation#127) * modify min_behavior_stop_margin Signed-off-by: Yamato Ando <[email protected]> * Update obstacle_stop_planner.yaml Co-authored-by: Yukihiro Saito <[email protected]> * Add expand_stop_range to obstacle_stop_planner.yaml (autowarefoundation#152) Signed-off-by: Kenji Miyake <[email protected]> * Update obstacle_stop_planner.yaml (autowarefoundation#153) * Visualize echo back goal_pose instead of 2D Nav Goal (autowarefoundation#150) * Visualize echo back goal_pose instead of 2D Nav Goal Signed-off-by: Kenji Miyake <[email protected]> * Fix mission_planning.launch Signed-off-by: Kenji Miyake <[email protected]> * Add surround_obstacle_checker.yaml (autowarefoundation#157) * Add parameter (autowarefoundation#158) * Revert "[planning_launch] restore file name for ros2 porting" This reverts commit 275f0df232323bf24627adea9cb08888c250625e. * fix namespace Signed-off-by: Takamasa Horibe <[email protected]> * fix relay Signed-off-by: Takamasa Horibe <[email protected]> * [planning_launch]: Add vehicle_param_file for turn signal decider Signed-off-by: wep21 <[email protected]> * [planning_launch]: Change topic type of lane change approval Signed-off-by: wep21 <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Satoshi Tanaka <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Yuma Nihei <[email protected]> Co-authored-by: Kosuke Murakami <[email protected]> Co-authored-by: YamatoAndo <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: hiroaki-ishikawa-t4 <[email protected]> Co-authored-by: wep21 <[email protected]> * Ros2 v0.8.0 fix packages (autowarefoundation#64) * add vehicle_param_file to simple planning simulator * add vehicle_param_file to lane change planner * Rename ROS-related .yaml to .param.yaml (autowarefoundation#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Add missing '--' Signed-off-by: Kenji Miyake <[email protected]> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Fix livox param name Signed-off-by: Kenji Miyake <[email protected]> * Ros2 update v0.9.0 (autowarefoundation#67) * Add pose history into rviz config Signed-off-by: wep21 <[email protected]> * add blocked by obstacle option (autowarefoundation#164) * fix tab name (autowarefoundation#166) * disenable ndt visualization (autowarefoundation#169) * disenable ndt visualization * change alpha * dont visualize position covariance Signed-off-by: wep21 <[email protected]> * change global frame to map (autowarefoundation#171) * add param (autowarefoundation#156) Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: tkimura4 <[email protected]> * Ros2 fix topic name part1 (autowarefoundation#83) * Fix topic name for behavior_velocity_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of lane_change_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of freespace_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for freespace_planner Signed-off-by: Takagi, Isamu <[email protected]> * Fix typo in planning launch (autowarefoundation#92) * Fix typo in planning launch * Fix remaining errors * Fix various typos in launch files (autowarefoundation#97) * add use_sim-time option (autowarefoundation#99) * Format launch files (autowarefoundation#178) Signed-off-by: Kenji Miyake <[email protected]> * Sync public repo (autowarefoundation#185) * add tier4 usbcam (autowarefoundation#104) * add tier4 usbcam * change version * tier4/ros2 * Ros2 vehicle info param server (autowarefoundation#96) * add vehicle info param server * delete vehicle param file Co-authored-by: taikitanaka <[email protected]> * Ros2 fix topic name part2 (autowarefoundation#89) * Fix topic name for traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for traffic_light_visualization Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name for traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: taikitanaka <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> * Ros2 lsim test (autowarefoundation#186) * Add group to launch file for var scope Signed-off-by: Takagi, Isamu <[email protected]> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <[email protected]> * Add use_sim_time Signed-off-by: Takagi, Isamu <[email protected]> * Remove pointcloud relay for localization Signed-off-by: Takagi, Isamu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> * Use set_parameter for use_sim_time (autowarefoundation#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <[email protected]> * Add default parameter for scenario simulator Signed-off-by: wep21 <[email protected]> * Add container launch for planning (autowarefoundation#205) * Add container launch for planning Signed-off-by: wep21 <[email protected]> * fix porting miss * fix lane_driving.launch.xml * Add missing parameters Signed-off-by: wep21 <[email protected]> Co-authored-by: taichiH <[email protected]> * Rename AstarNavi to FreespacePlannerNode (autowarefoundation#213) Signed-off-by: Kenji Miyake <[email protected]> * Fix typos in launch files (autowarefoundation#231) * Fix typos in launch files Signed-off-by: Kenji Miyake <[email protected]> * Fix lint Signed-off-by: wep21 <[email protected]> Co-authored-by: wep21 <[email protected]> * Format launch files (autowarefoundation#228) * Format launch files Signed-off-by: Kenji Miyake <[email protected]> * Format launch.py Signed-off-by: Kenji Miyake <[email protected]> * Fix lint Signed-off-by: Kenji Miyake <[email protected]> * Fix topic name of external traffic light input (autowarefoundation#236) * Add namespace to behavior_velocity_planner (autowarefoundation#252) Signed-off-by: Kenji Miyake <[email protected]> * Fix typo applygin->applying (autowarefoundation#304) Signed-off-by: kosuke55 <[email protected]> * add description for planning_launch autowarefoundation#335 * add README.md and svg files (autowarefoundation#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Add autoware api (autowarefoundation#376) * Add external api adaptor (autowarefoundation#267) * Add external api adaptor * Add api adaptor to logging simulator Signed-off-by: Takagi, Isamu <[email protected]> * Add engage status output Signed-off-by: Takagi, Isamu <[email protected]> * Add internal api adaptor (autowarefoundation#273) Signed-off-by: Takagi, Isamu <[email protected]> * Add map hash generator (autowarefoundation#319) Signed-off-by: Takagi, Isamu <[email protected]> * Add autoware api launch (autowarefoundation#326) * Add autoware api launch Signed-off-by: Takagi, Isamu <[email protected]> * Apply autoware api launch Signed-off-by: Takagi, Isamu <[email protected]> * Add deprecated comment Signed-off-by: Takagi, Isamu <[email protected]> * Remove unused parameter (autowarefoundation#325) Signed-off-by: Takagi, Isamu <[email protected]> * Add api parameter (autowarefoundation#341) Signed-off-by: Takagi, Isamu <[email protected]> * Add start request API (autowarefoundation#321) * Add use start request option Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint Signed-off-by: Takagi, Isamu <[email protected]> * Feature external cmd selector heartbeat (autowarefoundation#356) * Rename external command topic Signed-off-by: Takagi, Isamu <[email protected]> * Modify command topic name Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name Signed-off-by: Takagi, Isamu <[email protected]> * Rename remote_cmd_converter Signed-off-by: Takagi, Isamu <[email protected]> * Remove gate mode from external command Signed-off-by: Takagi, Isamu <[email protected]> * Fix latest external command name (autowarefoundation#361) Signed-off-by: Takagi, Isamu <[email protected]> * Fix merge conflict Signed-off-by: Takagi, Isamu <[email protected]> * change external traffic light topic name in behavior velocity planner (autowarefoundation#310) * fix topic * change internal topic name Co-authored-by: yabuta <[email protected]> * Merge pull request autowarefoundation#359 from tier4/feature/add_plannig_error_monitor (autowarefoundation#365) * Feature/add virtual traffic light planner (autowarefoundation#317) * Fix pre-commit (autowarefoundation#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <[email protected]> * Fix package.xml Signed-off-by: Kenji Miyake <[email protected]> * fix parameter name (autowarefoundation#470) * Feature/porting behavior path planner (autowarefoundation#300) * modify behavior_planning launch for behavior_path_planner with lane_c… (autowarefoundation#239) * modify behavior_planning launch for behavior_path_planner with lane_change_only config Signed-off-by: Takamasa Horibe <[email protected]> * remove avoidance & side_shift related code Signed-off-by: Takamasa Horibe <[email protected]> * Fix launcher and add config files and change obstacle avoid param * Add new line * Fix visualization and remove multiple args * Enable auto approve path change Co-authored-by: rej55 <[email protected]> Signed-off-by: wep21 <[email protected]> * add param in behavior_path_planner (autowarefoundation#255) Signed-off-by: Takamasa Horibe <[email protected]> * Fix param (autowarefoundation#251) * Fix typo Signed-off-by: wep21 <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: rej55 <[email protected]> * Feature/porting motion velocity smoother (autowarefoundation#302) * Launch motion_velocity_smoother (autowarefoundation#215) * Launch motion_velocity_smoother * Change params * Fix parameter files * Fix Signed-off-by: wep21 <[email protected]> * Fix/smoother trajectory ds (autowarefoundation#249) * Add parameter * Fix * Fix * change launcher parameter (autowarefoundation#265) * Feature/smoother resampling (autowarefoundation#269) * change launcher parameter * add new parameter Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: purewater0901 <[email protected]> * Master sync parking module (autowarefoundation#303) * Add namespace Signed-off-by: wep21 <[email protected]> * Add freespace planner config file Signed-off-by: wep21 <[email protected]> * Add missing import Signed-off-by: wep21 <[email protected]> * update rviz config & planner params (autowarefoundation#305) Co-authored-by: satoshi-ota <[email protected]> * Feature/porting occlusion spot (autowarefoundation#309) * add occulusion_spot marker (autowarefoundation#266) * add blindspot marker * to occlusion spot slow down * remove debug info from marker (autowarefoundation#287) * remove debug info from marker * remove debug arrow * fix format * update behavior launch * apply pep8 * fix format Co-authored-by: taikitanaka3 <[email protected]> * Use multithread for lane driving planning (autowarefoundation#327) Signed-off-by: wep21 <[email protected]> * Fix import order of parking.launch.py (autowarefoundation#347) Signed-off-by: Kenji Miyake <[email protected]> * Add analytical smoother config (autowarefoundation#360) Signed-off-by: Makoto Kurihara <[email protected]> * update acc param (autowarefoundation#358) * add rosparam for vehicle center optimization (autowarefoundation#362) * update ros param for .iv (autowarefoundation#353) * update ros param for .iv * forward fixing mpt time: 3.0->1.0 * Fix/obstacle avoid revert some improvements (autowarefoundation#381) * Revert "update ros param for .iv (autowarefoundation#353)" This reverts commit f7f341a. * Revert "add rosparam for vehicle center optimization (autowarefoundation#362)" This reverts commit 78bbf70. * update side shift param (autowarefoundation#370) Signed-off-by: Takamasa Horibe <[email protected]> * add yaml & load lane following params (autowarefoundation#377) * add pull over/out module (autowarefoundation#430) add yaml file and modify BT tree file path modify parameter file add parameter add use_dynamic_object flag in pull out param delete unncesarry parameters delete unnecessary param merge change for jpntaxi delete blank line modify BT file name modify launch file * Update behavior path planner launch files (autowarefoundation#433) * update launch parameters for behavior_path_planner Signed-off-by: TakaHoribe <[email protected]> * update param at experiment Signed-off-by: Takamasa Horibe <[email protected]> * fix typo Signed-off-by: Takamasa Horibe <[email protected]> * Fix indent Co-authored-by: TakaHoribe <[email protected]> * Fix for pre-commit (437) Signed-off-by: Kenji Miyake <[email protected]> * change threshold_distance_object_is_on_center to 1.0 (autowarefoundation#441) Signed-off-by: TakaHoribe <[email protected]> * delete optimizer (autowarefoundation#456) * add params for acceleration prevention (autowarefoundation#454) (autowarefoundation#457) Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> * Feature/use external velocity limit selector (autowarefoundation#460) * use external velocity limit selector * add common planning params * update yaml params * Feature/add slow down params (autowarefoundation#448) * add/update slow down params * topic remap * update topic name * Fix/use common param (autowarefoundation#465) * Change formatter to black (autowarefoundation#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * twist -> odometry (autowarefoundation#109) Co-authored-by: Takayuki Murooka <[email protected]> * Auto/fix launch (autowarefoundation#110) * fix namespace * remove dynamic_object_visualization * fix rviz * remove unused depend/launcher (autowarefoundation#112) * Fix remapping in control.launch.py (autowarefoundation#115) * Fix remappings * Add comment * Sync .auto branch with the latest branch in internal repository (autowarefoundation#120) * Disbale intersection polygon marker (autowarefoundation#483) Signed-off-by: wep21 <[email protected]> * Merge pull request autowarefoundation#384 from tier4/feature/no_stopping_area Feature/no stopping area Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> * Update traffic light topic name (autowarefoundation#131) * Update traffic light topic name Signed-off-by: wep21 <[email protected]> * Update traffic light topic name in perception Signed-off-by: wep21 <[email protected]> * Fix no ground pointcloud topic name (autowarefoundation#134) Signed-off-by: j4tfwm6z <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> * auto/fix occupancy grid map topic name (autowarefoundation#137) * fix/rename segmentation namespace (autowarefoundation#139) * fix namespace: rviz config * fix namespace: planning stack * rename segmentatino directory * fix namespace: perception stack * add vehicle info parameter Signed-off-by: tomoya.kimura <[email protected]> * ci(pre-commit): autofix * remove unused import * remove unused import Signed-off-by: tomoya.kimura <[email protected]> Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: Kosuke Murakami <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Jilada Eccleston <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Satoshi Tanaka <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Yuma Nihei <[email protected]> Co-authored-by: YamatoAndo <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: hiroaki-ishikawa-t4 <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: taikitanaka <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: taichiH <[email protected]> Co-authored-by: Kosuke Takeuchi <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: yabuta <[email protected]> Co-authored-by: purewater0901 <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: satoshi-ota <[email protected]> Co-authored-by: Makoto Kurihara <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: kyoichi sugahara <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: autoware-iv-sync-ci[bot] <87871706+autoware-iv-sync-ci[bot]@users.noreply.github.com> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: j4tfwm6z <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

kosuke55 · 2022-02-18T02:45:59Z

@k-obitsu
This PR has already been merged, but please check this comment.
#362 (comment)

k-obitsu · 2022-02-18T07:18:55Z

@kosuke55
I confirmed scenario of "https://github.com/tier4/autoware.iv/pull/2402" by v1.8.3.
Then, the stop line which sets beyond the goal didn't disappear. (See the attach file)
evt4-1804-2022-02-18_16.09.zip

kosuke55 · 2022-02-19T04:57:10Z

@k-obitsu
hmm, Is it the correct behavior to disappear?

k-obitsu · 2022-02-25T04:27:39Z

@kosuke55
I think it is correct.
but I don't know why the stop line is disappeared by v1.8.3.

* release v0.4.0 * Change localization diag namespace (autowarefoundation#718) * Change default value of output_diagnostics_topic Signed-off-by: Kenji Miyake <[email protected]> * Remove localization_diagnostic.js from web_controller Signed-off-by: Kenji Miyake <[email protected]> * Integrate localization diag to diagnostic_aggregator Signed-off-by: Kenji Miyake <[email protected]> * Delete old and unused publisher Signed-off-by: Kenji Miyake <[email protected]> * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <[email protected]> * Revert "remove ROS1 packages temporarily" This reverts commit 63dc7f4e1defe5fd908eeefc7a2cdfac7cb47022. Signed-off-by: mitsudome-r <[email protected]> * add COLCON_IGNORE to ros1 packages Signed-off-by: mitsudome-r <[email protected]> * Rename launch files to launch.xml (autowarefoundation#28) * ROS2 Porting: autoware_error_monitor (autowarefoundation#42) * Temporary add the autoware_error_monitor package for conversion * Renaming to adhere to convention - Modify CMakeList to compile using ROS2 - TODO: fix FMT import * Replace node implementation with ROS2 version - Rename core - Fix FMT library linking and ROS-related compilation erros - Add Readme - Add publisher and subscribers - Add timer * Launch configurationse - Add ROS2 launch file - Modify config file with ROS2 conventions - Convert package.xml - Fix CMakelist - Bug fixes - Launch file correct indentation - Fix param.yaml to not use nested lists - Use as_string_array() when getting string array parameters * Remove old files * Fix cmake and package xml - Use ament cmake auto * Fix parameters - Use dots as delimiters for nested parameter names - Move parameter declaration to constructor initialization list where possible - Update parameter file - Update launch files * Fix launch and param files - Aggregator node doesn't appear to be working as expected with the launch files... - Fix cmake - Aggregator doesn't seem to allow multiple top level diagnostics * Fix config * Add rqt_robot_monitor to exec depends in package.xml * Update rate should be converted to a period Co-authored-by: Ryohsuke Mitsudome <[email protected]> * Address PR comment: - Change top level namespace to autoware * Remove commented out code * Address PR comment: - Fix root for keys - Correct update rate Co-authored-by: Ryohsuke Mitsudome <[email protected]> * Adjust copyright notice on 532 out of 699 source files (autowarefoundation#143) * Use quotes for includes where appropriate (autowarefoundation#144) * Use quotes for includes where appropriate * Fix lint tests * Make tests pass hopefully * Add linter tests (autowarefoundation#204) * Ros2 v0.8.0 autoware error monitor (autowarefoundation#281) * Rename ROS-related .yaml to .param.yaml (autowarefoundation#352) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Remove prefix 'default_' of yaml files Signed-off-by: Kenji Miyake <[email protected]> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Rename diagnostic_aggregator's param files Signed-off-by: Kenji Miyake <[email protected]> * Fix overlooked parameters Signed-off-by: Kenji Miyake <[email protected]> * Ros2 v0.8.0 fix packages2 (autowarefoundation#354) * fix topic name * fix duration rate * fix sensing.yaml * fix topic name * add latch-option to autoware_state_monitor * fix timer callback * fix autoware state monitor config * fix sensing.yaml * Fix autoware error monitor (autowarefoundation#362) * Remove cpu_load_average Signed-off-by: Kenji Miyake <[email protected]> * Disable resource monitoring in planning_simulator Signed-off-by: Kenji Miyake <[email protected]> * Fix diagnostic_aggregator's params Signed-off-by: Kenji Miyake <[email protected]> * Apply format Signed-off-by: Kenji Miyake <[email protected]> * [Update v0.9.0] system monitor (autowarefoundation#365) * Disable CPU Load Average warning. (autowarefoundation#1147) Signed-off-by: mitsudome-r <[email protected]> * Fix cpu_monitor respawning forever. (autowarefoundation#1150) * Disable cpu_temperature in planning simulation (autowarefoundation#1151) Signed-off-by: mitsudome-r <[email protected]> * Net Monitor: Handle as an error if specified device not exist. (autowarefoundation#1152) * Handled as an error if specified device not exist. * Disable network diags in simulation Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * apply ament_uncrustify Signed-off-by: mitsudome-r <[email protected]> * Disable resource monitoring in planning_simulator (autowarefoundation#1172) Signed-off-by: Kenji Miyake <[email protected]> * Treat logging errors as safe faults (autowarefoundation#1164) Signed-off-by: Kenji Miyake <[email protected]> * Fix test code of system_monitor (autowarefoundation#1178) Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * Import v0.9.1 (autowarefoundation#431) * add local optimal solution ocillation check to ndt_scan_matcher (autowarefoundation#1182) * Add obstacle_crush diagnostic (autowarefoundation#1186) Signed-off-by: Kenji Miyake <[email protected]> * Fix diagnostics api (autowarefoundation#1185) * Fix diagnostics api Signed-off-by: Kenji Miyake <[email protected]> * Don't overwrite level Signed-off-by: Kenji Miyake <[email protected]> * Overwrite level of No Fault diagnostics Signed-off-by: Kenji Miyake <[email protected]> * Add missing diag in autoware_error_monitor.yaml (autowarefoundation#1187) Signed-off-by: Kenji Miyake <[email protected]> * Filter hazard_status (autowarefoundation#1191) * Filter hazard_status Signed-off-by: Kenji Miyake <[email protected]> * Filter leaf diagnostics Signed-off-by: Kenji Miyake <[email protected]> * Fix wrong calculation of available memory. (autowarefoundation#1168) * Fixed wrong calculation of available memory. * Added comments about output example of free -tb command. * Change monitoring method to get HDD temperature and usage per specified device. (autowarefoundation#1195) * Changed monitoring method to get temperature and usage per specified device. * Fixed test codes. * Removed unnecessary (void) parameter. * return input pointcloud when ground plane not found (autowarefoundation#1190) * fix yaw-smoothing bug (autowarefoundation#1198) * Fix lint Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: tkimura4 <[email protected]> * Fix typo in system module (autowarefoundation#434) * Fix typo in system module * Change variable name * Move comments * Apply uncrustify * add use_sim-time option (autowarefoundation#454) * Treat NTP offset error as safe fault (autowarefoundation#1220) Signed-off-by: Kenji Miyake <[email protected]> * Fix for rolling (autowarefoundation#1226) * Replace doc by description Signed-off-by: Kenji Miyake <[email protected]> * Replace ns by push-ros-namespace Signed-off-by: Kenji Miyake <[email protected]> * Fix/fix porting miss (autowarefoundation#1254) * Fix porting miss of vehicle_cmd_gate Signed-off-by: Kenji Miyake <[email protected]> * Fix mistake of autoware_error_monitor.yaml Signed-off-by: Kenji Miyake <[email protected]> * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <[email protected]> * error monitor for foa controller (autowarefoundation#1369) Signed-off-by: wep21 <[email protected]> * Add diagnostics config for ros2_socketcan (autowarefoundation#1447) * Add markdownlint and prettier (autowarefoundation#1661) * Add markdownlint and prettier Signed-off-by: Kenji Miyake <[email protected]> * Ignore .param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Apply format Signed-off-by: Kenji Miyake <[email protected]> * fix typo (autowarefoundation#1711) * suppress warnings for declare parameters (autowarefoundation#1724) * fix for lanelet2_extension * fix for traffic light ssd fine detector * fix for topic_state_monitor * fix for dummy diag publisher * fix for remote cmd converter * fix for vehicle_info_util * fix for multi object tracker * fix for freespace planner * fix for autoware_error_monitor * add Werror for multi object tracker * fix for multi object tracker * add Werror for liraffic light ssd fine detector * add Werror for topic state monitor * add Werror * add Werror * add Werror * add Werror * fix style * Fix -Wunused-parameter (autowarefoundation#1836) * Fix -Wunused-parameter Signed-off-by: Kenji Miyake <[email protected]> * Fix mistake Signed-off-by: Kenji Miyake <[email protected]> * fix spell * Fix lint issues Signed-off-by: Kenji Miyake <[email protected]> * Ignore flake8 warnings Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> * enable autonomous recovery (autowarefoundation#1904) * add aggregator config at planing error monitor (autowarefoundation#1955) (autowarefoundation#1963) * add trajectory monitoring setting (autowarefoundation#2018) * Fix typo `obstacle_crush` to `obstacle_crash` (autowarefoundation#2031) * Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#2030) * Use EmergencyState instead of deprecated EmergencyMode Signed-off-by: Kenji Miyake <[email protected]> * Use stamped type Signed-off-by: Kenji Miyake <[email protected]> * add sort-package-xml hook in pre-commit (autowarefoundation#1881) * add sort xml hook in pre-commit * change retval to exit_status * rename * add prettier plugin-xml * use early return * add license note * add tier4 license * restore prettier * change license order * move local hooks to public repo * move prettier-xml to pre-commit-hooks-ros * update version for bug-fix * apply pre-commit * Sync rc v1.5.0 (autowarefoundation#2058) * Cleanup autoware_error_monitor launch (autowarefoundation#2143) * Improve diagnostic tree for future extensions (autowarefoundation#2153) * change resource monitoring group * implement diagnostic tree proposal * rename v2x param file * add v2x to launch * add dummy analyzer to avoid format error * modify external control * rename vehicle_ecu_errors * fixup * remove num_items * fix error * add heartbeat to external command selector * Restore sensing/node_alive_monitoring * Update system/autoware_error_monitor/config/diagnostic_aggregator/sensing.param.yaml Co-authored-by: Kenji Miyake <[email protected]> * add sensor_kit arg for diagnostic_agg * change sensor_kit's default value * add _ prefix to hide parameter file * delete dummy parameter * change to use update_functions * add extra_agg_config_file_vehicle * change initializer * remove line * Update system/autoware_error_monitor/config/diagnostic_aggregator/system.param.yaml Co-authored-by: Kenji Miyake <[email protected]> * change hearbeat diag * add clock group * update sensing diag * Remove discard and v2x Signed-off-by: Kenji Miyake <[email protected]> * Fix heartbeat name Signed-off-by: Kenji Miyake <[email protected]> * Add remote_external_control Signed-off-by: Kenji Miyake <[email protected]> * Add external_control Signed-off-by: Kenji Miyake <[email protected]> * Rename remote_control to external_control Signed-off-by: Kenji Miyake <[email protected]> * Rename command_gate to control_command_gate Signed-off-by: Kenji Miyake <[email protected]> * Simplify resource monitoring Signed-off-by: Kenji Miyake <[email protected]> * Remove sensing from autoware_error_monitor.param.yaml Signed-off-by: Kenji Miyake <[email protected]> * Remove trajectory_deviation Signed-off-by: Kenji Miyake <[email protected]> * Remove vehicle specific settings Signed-off-by: Kenji Miyake <[email protected]> * Add blank lines Signed-off-by: Kenji Miyake <[email protected]> * Ignore matching_score error Signed-off-by: Kenji Miyake <[email protected]> * Remove debug_data_logger Signed-off-by: Kenji Miyake <[email protected]> * Add trajectory_validation Signed-off-by: Kenji Miyake <[email protected]> * Specify children for performance_monitoring Signed-off-by: Kenji Miyake <[email protected]> * Comment out route_validation Signed-off-by: Kenji Miyake <[email protected]> * Revert "Remove trajectory_deviation" This reverts commit 199132f1a6c7083440f0ef9a956b0663d45f4531. * Remove control_command_topic_status Signed-off-by: Kenji Miyake <[email protected]> * Disable some diagnostics for planning simulator Signed-off-by: Kenji Miyake <[email protected]> * Add TODO comment Signed-off-by: Kenji Miyake <[email protected]> * Enable /autoware/vehicle/node_alive_monitoring in planning simulator Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * Change autoware_error_monitor config format (autowarefoundation#2244) * Change autoware_error_monitor config file use automatically_declare_parameters_from_overrides Change yaml format replace default value move nodeoption to core simplify parameter splitting code use set fix to use at function merge for loop add explanation for new format fix default value replace DiagLevel Update system/autoware_error_monitor/src/autoware_error_monitor_core.cpp Co-authored-by: Kazuki Miyahara <[email protected]> Update system/autoware_error_monitor/src/autoware_error_monitor_core.cpp Co-authored-by: Kazuki Miyahara <[email protected]> use fmt change to use uniform initialization * Change autoware_error_monitor config file * Fix format Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * Change formatter to clang-format and black (autowarefoundation#2332) * Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3. * Replace ament_lint_common with autoware_lint_common Signed-off-by: Kenji Miyake <[email protected]> * Remove ament_cmake_uncrustify and ament_clang_format Signed-off-by: Kenji Miyake <[email protected]> * Apply Black Signed-off-by: Kenji Miyake <[email protected]> * Apply clang-format Signed-off-by: Kenji Miyake <[email protected]> * Fix build errors Signed-off-by: Kenji Miyake <[email protected]> * Fix for cpplint * Fix include double quotes to angle brackets Signed-off-by: Kenji Miyake <[email protected]> * Apply clang-format Signed-off-by: Kenji Miyake <[email protected]> * Fix build errors Signed-off-by: Kenji Miyake <[email protected]> * Add COLCON_IGNORE (autowarefoundation#500) Signed-off-by: Kenji Miyake <[email protected]> * support .auto message (autowarefoundation#529) * remove VehicleStateReport/VehicleStateCommand/VehicleControlCommand (autowarefoundation#549) * fix autoware_error_monitor * fix state monitor * fix emergency handler(vehicle_state_report) * fix emergency Handler(vehicle_state_command) * fix shift_decider * fix emergency_handler(vehicle_control_command) * fix topic name * fix readme * Update system/autoware_state_monitor/Readme.md Co-authored-by: taikitanaka3 <[email protected]> * fix format * Update system/autoware_state_monitor/launch/autoware_state_monitor.launch.xml Co-authored-by: taikitanaka3 <[email protected]> * fix typo Co-authored-by: taikitanaka3 <[email protected]> * Fix autoware monitors readme (autowarefoundation#629) * Fix readme of autoware_state_monitor * Fix readme of autoware_error_monitor Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Nikolai Morin <[email protected]> Co-authored-by: Jilada Eccleston <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: s-murakami-esol <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Takeshi Miura <[email protected]>

…warefoundation#362) * feat(behavior_velocity_planner): use tier4_autoware_utils calcSignedArcLength Signed-off-by: kosuke55 <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* Revert "update ros param for .iv (autowarefoundation#353)" This reverts commit f7f341a. * Revert "add rosparam for vehicle center optimization (autowarefoundation#362)" This reverts commit 78bbf70.

chore: sync upstream

…ation#362) Signed-off-by: satoshi-ota <[email protected]>

kosuke55 mentioned this pull request Feb 8, 2022

There are duplicate parameters and functions in behavior_velocity_planner #361

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kosuke55 requested review from yukkysaito and taikitanaka3 February 8, 2022 03:21

kosuke55 mentioned this pull request Feb 8, 2022

fix(behavior_velocity_planner): fix findWayPointAndDistance and calcSignedArcLength #322

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kosuke55 and others added 2 commits February 9, 2022 19:37

feat(behavior_velocity_planner): use tier4_autoware_utils calcSignedA…

2630df7

…rcLength Signed-off-by: kosuke55 <[email protected]>

ci(pre-commit): autofix

07ccc7c

kosuke55 force-pushed the feature/use_common_calcSignedArcLength branch from 9f05046 to 07ccc7c Compare February 9, 2022 10:37

taikitanaka3 approved these changes Feb 15, 2022

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yukkysaito approved these changes Feb 18, 2022

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yukkysaito merged commit 6447b10 into autowarefoundation:tier4/proposal Feb 18, 2022

kosuke55 deleted the feature/use_common_calcSignedArcLength branch February 18, 2022 02:53

tier4-autoware-public-bot bot mentioned this pull request Feb 18, 2022

chore: sync upstream tier4/autoware.universe#13

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TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Oct 5, 2022

add rosparam for vehicle center optimization (autowarefoundation#362)

78bbf70

TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this pull request Oct 5, 2022

add rosparam for vehicle center optimization (autowarefoundation#362)

561e813

soblin pushed a commit to soblin/autoware.universe that referenced this pull request May 10, 2023

Merge pull request autowarefoundation#362 from tier4/sync-upstream

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chore: sync upstream

keiota pushed a commit to keiota/autoware.universe that referenced this pull request Aug 17, 2023

feat(avoidance): don't avoid objects around crosswalks (autowarefound…

077835f

…ation#362) Signed-off-by: satoshi-ota <[email protected]>

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feat(behavior_velocity_planner): use common calcSignedArcLength #362

feat(behavior_velocity_planner): use common calcSignedArcLength #362

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feat(behavior_velocity_planner): use common calcSignedArcLength #362

feat(behavior_velocity_planner): use common calcSignedArcLength #362

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