-
Notifications
You must be signed in to change notification settings - Fork 640
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
feat(ndt_scan_matcher): add nearest voxel transfromation probability #364
feat(ndt_scan_matcher): add nearest voxel transfromation probability #364
Conversation
68a3efd
to
9052a78
Compare
* release v0.4.0 * load velocity_controller_param.yaml from launcher (autowarefoundation#52) Signed-off-by: Shinnosuke Hirakawa <[email protected]> * Include enable_slope_compensation to yaml file (autowarefoundation#61) * Sync mpc param (autowarefoundation#74) Signed-off-by: wep21 <[email protected]> * add stop dist param (autowarefoundation#73) * add stop dist param * add keep stopping dist param * removed ROS1 package Signed-off-by: mitsudome-r <[email protected]> * Revert "removed ROS1 package" This reverts commit 85eb34207aa7b90314d93a6eb370213e10fcd7bd. * 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 control launch (autowarefoundation#7) * port control launch Signed-off-by: Takamasa Horibe <[email protected]> * fix license Signed-off-by: Takamasa Horibe <[email protected]> * ROS2 Linting: control_launch (autowarefoundation#29) * Add linter tests and completepackage dependencies list * Reorder alphabetically * Comment out pure_pursuit dependency - not ported yet * Add back pure_pursuit package post port * 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 control launch (autowarefoundation#53) * restore file name for v0.8.0 update Signed-off-by: Takamasa Horibe <[email protected]> * Add use_emergency_handling arg to vehicle_cmd_gate.launch (autowarefoundation#83) Signed-off-by: Kenji Miyake <[email protected]> * Add parameter for using steer prediction (autowarefoundation#88) * change stop dist param (autowarefoundation#85) * mpc: change param name steer_rate_lim_deg -> steer_rate_lim_dps (autowarefoundation#79) Signed-off-by: Takamasa Horibe <[email protected]> * add mpc parameter (autowarefoundation#105) * Add parameters for stop state (autowarefoundation#126) * Add parameters for stop state * Change default value * Add vehicle cmd gate config (autowarefoundation#136) * Add config_file of vehicle_cmd_gate Signed-off-by: Kenji Miyake <[email protected]> * Add use_emergency_stop Signed-off-by: Kenji Miyake <[email protected]> * Rename emergency_stop to external_emergency_stop Signed-off-by: Kenji Miyake <[email protected]> * Fix command_gate diag Signed-off-by: Kenji Miyake <[email protected]> * Add lane_departure_checker (autowarefoundation#123) Signed-off-by: Kenji Miyake <[email protected]> * Revert "restore file name for v0.8.0 update" This reverts commit 516b366819f7f9d69b9bc3e2de180d4523794bcd. * fix control launch Signed-off-by: Takamasa Horibe <[email protected]> * fix args Signed-off-by: Takamasa Horibe <[email protected]> * fix param type Signed-off-by: Takamasa Horibe <[email protected]> * fix lane departure checker Signed-off-by: Takamasa Horibe <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: tkimura4 <[email protected]> * [velocity controller]: Fix parameter type (autowarefoundation#62) Signed-off-by: wep21 <[email protected]> * 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]> * Fix typo in control launch (autowarefoundation#91) * Fix typo in control module * change admissible_yaw_error -> admissible_yaw_error_rad * Fix various typos in launch files (autowarefoundation#97) * add use_sim-time option (autowarefoundation#99) * Replace doc by description (autowarefoundation#182) 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]> * 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 control composed launch (autowarefoundation#201) Signed-off-by: wep21 <[email protected]> * Fix mistakes in control.launch.py (autowarefoundation#209) * Fix typo in control.launch.py Signed-off-by: Kenji Miyake <[email protected]> * Add remote_cmd_converter_component Signed-off-by: Kenji Miyake <[email protected]> * Feature/add external cmd selector (autowarefoundation#206) * Add remote_cmd_selector to control.launch (autowarefoundation#172) * Add remote_cmd_selector to control.launch Signed-off-by: Kenji Miyake <[email protected]> * Rename remote_cmd_selector to external_cmd_selector Signed-off-by: Kenji Miyake <[email protected]> * Change default external cmd source (autowarefoundation#173) Signed-off-by: Kenji Miyake <[email protected]> * modify to use control.launch.xml * add external_cmd_selector to control.launch.py * Fix remapping in control.launch.py Signed-off-by: Kenji Miyake <[email protected]> * Fix remapping in control.launch.py again Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Keisuke Shima <[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]> * add external commands (autowarefoundation#210) * add remote commands * fix topic * ToExternalCmd * fix topic in remote cmd converter * fix ament * add description for control_launch (autowarefoundation#330) * add description * fix sentence * use of * 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 * Feature/expand footprint launcher (autowarefoundation#318) * fix typo in control.launch.py autowarefoundation#363 * Fix description in control launch arg (autowarefoundation#364) * 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]> * Move launch file of external_cmd_selector (autowarefoundation#386) * Move launch file of external_cmd_selector Signed-off-by: Takagi, Isamu <[email protected]> * Add utility function to include launch.py Signed-off-by: Takagi, Isamu <[email protected]> * Add missing parameter Signed-off-by: Takagi, Isamu <[email protected]> * Fix external command api name Signed-off-by: Takagi, Isamu <[email protected]> * move common parameters Signed-off-by: Takagi, Isamu <[email protected]> * Fix format Signed-off-by: Takagi, Isamu <[email protected]> * Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#390) * Use EmergencyState instead of deprecated EmergencyMode Signed-off-by: Kenji Miyake <[email protected]> * Update control.launch.py * Add selected external command API (autowarefoundation#397) * 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]> * Add emergency status API (autowarefoundation#439) * remove yaw-recalc param in mpc (autowarefoundation#190) (autowarefoundation#294) Co-authored-by: tkimura4 <[email protected]> * Master sync for velocity controller (autowarefoundation#297) * update velocity_controller_param.yaml for refactoring velocity_controller (autowarefoundation#238) * update velocity_controller_param.yaml (autowarefoundation#247) Co-authored-by: Takayuki Murooka <[email protected]> * Fix parameter type (autowarefoundation#299) Signed-off-by: wep21 <[email protected]> * add smoothing_num parameter (autowarefoundation#263) (autowarefoundation#301) * add smoothing_num parameter * change param Co-authored-by: tkimura4 <[email protected]> * add stopped_jerk (autowarefoundation#276) (autowarefoundation#315) * add stopped_jerk * set stopped_jerk -5.0 Co-authored-by: Takayuki Murooka <[email protected]> * Rename param from smooth_stop_max_fast_vel to smooth_stop_min_fast_vel (autowarefoundation#351) * Feature/vehicle gate parametrize acc (autowarefoundation#320) * [vehicle_cmd_gate] add acc parameters Signed-off-by: TakaHoribe <[email protected]> * fix typo Signed-off-by: TakaHoribe <[email protected]> * Update control_launch/config/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: tkimura4 <[email protected]> * 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]> * remove unused depend/launcher (autowarefoundation#112) * Auto/control psim (autowarefoundation#113) * succeeded in launching control nodes * fix input/output of control_launch * Remove multiple package * Add newline * Update control_launch/launch/control.launch.py Co-authored-by: tkimura4 <[email protected]> * Apply pre-commit Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: tkimura4 <[email protected]> * Fix remapping in control.launch.py (autowarefoundation#115) * Fix remappings * Add comment * Fix remappings (autowarefoundation#116) * fix topics * add external hazard indicator * add param (autowarefoundation#126) * fix yaml (autowarefoundation#127) * remove unused files Signed-off-by: tomoya.kimura <[email protected]> * add default parameter of vehicle information Signed-off-by: tomoya.kimura <[email protected]> * ci(pre-commit): autofix Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: shin <[email protected]> Co-authored-by: Fumiya Watanabe <[email protected]> Co-authored-by: Daisuke Nishimatsu <[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: kosuke murakami <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Yukihiro Saito <[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: Keisuke Shima <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: yabuta <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: Maxime CLEMENT <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Takayuki Murooka <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* release v0.4.0 * Fixed uninitialized variable. (autowarefoundation#763) * Fixed various bugs. (autowarefoundation#768) * Fixed various bugs. * Fixed wrong status report of NIC. * Added the mode of CPU Usage to check statistics calculated as averages among all processors by default. (autowarefoundation#788) * fix uninitialized variables (autowarefoundation#816) * remove ROS1 packages temporarily Signed-off-by: mitsudome-r <[email protected]> * Revert "remove ROS1 packages temporarily" This reverts commit a9436882d50dc09fa5b8d6c0a151a10def76b242. 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) * Port system monitor to ros2 (autowarefoundation#71) * Implement a utility function that spins and updates a monitor node. * Port cpu monitor * Port hdd monitor. * Port mem_monitor to ROS2 * Port net_monitor to ROS2 * Port ntp_monitor to ROS2 * Port process_monitor to ROS2 * Port GPU_monitor to ROS2 * Port msr_reader and hdd_reader to ROS2 * Clean up the build and launch files: * Clean up and comment on CMake and package files. * Port the launch file to ROS2 * Rename h files to hpp (autowarefoundation#142) * Change includes * Rename files * Adjustments to make things compile * Other packages * 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 * Run uncrustify on the entire Pilot.Auto codebase (autowarefoundation#151) * Run uncrustify on the entire Pilot.Auto codebase * Exclude open PRs * ROS2 Linting: system_monitor (autowarefoundation#207) * Add linters * Fix clang-tidy error in util.hpp * Ros2 v0.8.0 system monitor (autowarefoundation#276) * fix dependency of system_monitor Signed-off-by: Takagi, Isamu <[email protected]> * 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]> * Exclude SwPowerCap as an error. (autowarefoundation#1146) (autowarefoundation#364) Co-authored-by: ito-san <[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]> * Use thread for ntpdate. (autowarefoundation#1160) (autowarefoundation#375) * Use thread for ntpdate. (autowarefoundation#1160) Signed-off-by: mitsudome-r <[email protected]> * removed unused variable Signed-off-by: mitsudome-r <[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 * Split system_monitor config (autowarefoundation#452) Signed-off-by: Kenji Miyake <[email protected]> * Remove unnecessary diagnostic update. (autowarefoundation#455) * add use_sim-time option (autowarefoundation#454) * Sync public repo (autowarefoundation#1228) * [simple_planning_simulator] add readme (autowarefoundation#424) * add readme of simple_planning_simulator Signed-off-by: Takamasa Horibe <[email protected]> * Update simulator/simple_planning_simulator/README.md * set transit_margin_time to intersect. planner (autowarefoundation#460) * Fix pose2twist (autowarefoundation#462) Signed-off-by: Takagi, Isamu <[email protected]> * Ros2 vehicle info param server (autowarefoundation#447) * add vehicle_info_param_server * update vehicle info * apply format * fix bug * skip unnecessary search * delete vehicle param file * fix bug * Ros2 fix topic name part2 (autowarefoundation#425) * Fix topic name of traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of traffic_light_visualization Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix topic name of traffic_light_map_based_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_recognition Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_classifier Signed-off-by: Takagi, Isamu <[email protected]> * Fix lint traffic_light_ssd_fine_detector Signed-off-by: Takagi, Isamu <[email protected]> * Fix issues in hdd_reader (autowarefoundation#466) * Fix some issues detected by Coverity Scan and Clang-Tidy * Update launch command * Add more `close(new_sock)` * Simplify the definitions of struct * fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463) * Rviz overlay render fix (autowarefoundation#461) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <[email protected]> * super class now back to MFD Signed-off-by: Adam Dabrowski <[email protected]> * uncrustified Signed-off-by: Adam Dabrowski <[email protected]> * acquire data in mutex Signed-off-by: Adam Dabrowski <[email protected]> * back to RTD as superclass Signed-off-by: Adam Dabrowski <[email protected]> * Rviz overlay render in update (autowarefoundation#465) * Moved painiting in SteeringAngle plugin to update() Signed-off-by: Adam Dabrowski <[email protected]> * super class now back to MFD Signed-off-by: Adam Dabrowski <[email protected]> * uncrustified Signed-off-by: Adam Dabrowski <[email protected]> * acquire data in mutex Signed-off-by: Adam Dabrowski <[email protected]> * removed unnecessary includes and some dead code Signed-off-by: Adam Dabrowski <[email protected]> * Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass Signed-off-by: Adam Dabrowski <[email protected]> * restored RTD superclass Signed-off-by: Adam Dabrowski <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: tkimura4 <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: Makoto Tokunaga <[email protected]> Co-authored-by: Adam Dąbrowski <[email protected]> * Fix issues in gpu_monitor (autowarefoundation#1248) * Fix issues in gpu_monitor * Fix uninitialized variables * Use range-based for loop * Fix compile errors of tegra_gpu_monitor * Replace C-style to C++-style * Make iterators const * Fix fmt::format() usage error * Unify Apache-2.0 license name (autowarefoundation#1242) * Remove use_sim_time for set_parameter (autowarefoundation#1260) Signed-off-by: wep21 <[email protected]> * [system_monitor] change some nodes into components (autowarefoundation#1234) Signed-off-by: mitsudome-r <[email protected]> Signed-off-by: wep21 <[email protected]> Co-authored-by: Takeshi Miura <[email protected]> Co-authored-by: Takeshi Miura <[email protected]> Co-authored-by: wep21 <[email protected]> * add system_monitor.launch.py (autowarefoundation#1238) * add system_monitor.launch.py * refactor system_monitor.launch.py * fix launch bug * fix typo * fix launch py * fix param loading * format code * fix system monitor executor to publish diagnostics asynclonously (autowarefoundation#1283) * Fix lint errors (autowarefoundation#1378) * Fix lint errors Signed-off-by: Kenji Miyake <[email protected]> * Fix variable names Signed-off-by: Kenji Miyake <[email protected]> * Add kernel CPU usage. (autowarefoundation#1465) * Add kernel CPU usage. * Change CPU x: usage to CPU x: total. * Changed variable name. * 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]> * suppress warnings for system monitor (autowarefoundation#1723) * fix for hdd_monitor * fix no initialization and warning * change command for ntp_monitor (autowarefoundation#1705) * [EVT4-403] change command for ntp_monitor * [EVT4-403] fixed CI build error * [EVT4-403] fixed cpplint error * delete executeChronyc thread, fix error topic and log output code * fix cpplint error and code style divergence * fix cpplint error(missing correction) * Fix MD029 (autowarefoundation#1813) Signed-off-by: Kenji Miyake <[email protected]> * 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]> * add gpu usage per process (autowarefoundation#1798) * add gpu usage per process * change illegal usage(4294967295%) to 0%, and fix CI running errors * Replace gettimeofday with rclcpp::Node::now(). * Fix uncrustify error. * Replace rclcpp::Node::now() with rclcpp::Clock(RCL_SYSTEM_TIME). Co-authored-by: ito-san <[email protected]> * fix some typos (autowarefoundation#1941) * fix some typos * fix typo * Fix typo Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * suppress warnings for system directory autowarefoundation#2046 * 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 * Add execution time logging. (autowarefoundation#2066) * Add markdown-link-check pre-commit (autowarefoundation#2215) * add markdown-lint-check pre-commit * delete files argument * add optional hook * modify comment * add comment * delete hook * add retry option * add option * add files arg * Fix links in hdd_reader.md Signed-off-by: Kenji Miyake <[email protected]> * Ignore 403 Signed-off-by: Kenji Miyake <[email protected]> * Ignore tier4 github url Signed-off-by: Kenji Miyake <[email protected]> * Update link 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]> * remove COLCON_IGNORE in system_packages and map_tf_generator (autowarefoundation#532) Co-authored-by: mitsudome-r <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: Kazuki Miyahara <[email protected]> Co-authored-by: Nikolai Morin <[email protected]> Co-authored-by: Yunus Emre Çalışkan <[email protected]> Co-authored-by: Jilada Eccleston <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Ryohsuke Mitsudome <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Taichi Higashide <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Takagi, Isamu <[email protected]> Co-authored-by: Makoto Tokunaga <[email protected]> Co-authored-by: Adam Dąbrowski <[email protected]> Co-authored-by: Takeshi Miura <[email protected]> Co-authored-by: Takeshi Miura <[email protected]> Co-authored-by: wep21 <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: v-kitahara8153 <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: Keisuke Shima <[email protected]> Co-authored-by: taikitanaka3 <[email protected]>
9052a78
to
998e188
Compare
998e188
to
1e7c3ba
Compare
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
LGTM
1e7c3ba
to
e940c2b
Compare
@YamatoAndo Could you check the ci failure? https://github.com/autowarefoundation/autoware.universe/runs/5616843445?check_suite_focus=true |
@wep21 |
e940c2b
to
27d5362
Compare
@YamatoAndo I'm sorry, I missed it. I merged tier4/ndt_omp#10 and rerun the ci. |
Codecov Report
@@ Coverage Diff @@
## main #364 +/- ##
==========================================
- Coverage 10.76% 0.00% -10.77%
==========================================
Files 712 14 -698
Lines 50569 698 -49871
Branches 6572 0 -6572
==========================================
- Hits 5445 0 -5445
+ Misses 40717 698 -40019
+ Partials 4407 0 -4407
Continue to review full report at Codecov.
|
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: Yamato Ando <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: YamatoAndo <[email protected]>
Signed-off-by: Yamato Ando <[email protected]>
27d5362
to
f70a1e2
Compare
Signed-off-by: YamatoAndo <[email protected]>
@RyuYamamoto please review again with tier4/ndt_omp#13 and tier4/autoware_launch#198. |
Signed-off-by: YamatoAndo <[email protected]>
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.
LGTM
…ier4#364) * feat(ndt_scan_matcher): add nearest voxel transfromation probability Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add converged_param_nearest_voxel_transformation_probability Signed-off-by: Yamato Ando <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * refactoring convergence conditions Signed-off-by: YamatoAndo <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * fix typo Signed-off-by: Yamato Ando <[email protected]> * ci(pre-commit): autofix * rename likelihood Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * avoid a warning unused parameter Signed-off-by: YamatoAndo <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ier4#364) * feat(ndt_scan_matcher): add nearest voxel transfromation probability Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add converged_param_nearest_voxel_transformation_probability Signed-off-by: Yamato Ando <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * refactoring convergence conditions Signed-off-by: YamatoAndo <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * fix typo Signed-off-by: Yamato Ando <[email protected]> * ci(pre-commit): autofix * rename likelihood Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * avoid a warning unused parameter Signed-off-by: YamatoAndo <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…ier4#364) * feat(ndt_scan_matcher): add nearest voxel transfromation probability Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add converged_param_nearest_voxel_transformation_probability Signed-off-by: Yamato Ando <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * refactoring convergence conditions Signed-off-by: YamatoAndo <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * fix typo Signed-off-by: Yamato Ando <[email protected]> * ci(pre-commit): autofix * rename likelihood Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * avoid a warning unused parameter Signed-off-by: YamatoAndo <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
…on#364) * feat(planning_launch): update obstacle cruise param Signed-off-by: Takayuki Murooka <[email protected]> * Delete utils.param.yaml
…ier4#364) * feat(ndt_scan_matcher): add nearest voxel transfromation probability Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add calculateTransformationProbability funcs Signed-off-by: YamatoAndo <[email protected]> * add converged_param_nearest_voxel_transformation_probability Signed-off-by: Yamato Ando <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * refactoring convergence conditions Signed-off-by: YamatoAndo <[email protected]> * fix error Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * remove debug code Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * fix typo Signed-off-by: Yamato Ando <[email protected]> * ci(pre-commit): autofix * rename likelihood Signed-off-by: YamatoAndo <[email protected]> * ci(pre-commit): autofix * avoid a warning unused parameter Signed-off-by: YamatoAndo <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
chore: sync upstream
…foundation#364) * feat(autoware_launch): update obstacle_cruise_planner param Signed-off-by: Takayuki Murooka <[email protected]> * update Signed-off-by: Takayuki Murooka <[email protected]> --------- Signed-off-by: Takayuki Murooka <[email protected]>
Please merge
tier4/ndt_omp#10(merged) and tier4/ndt_omp#13 before this PR. Otherwise, the build and test will not pass.Related Issue(required)
Description(required)
Add new score to determine convergence "nearest voxel transformation probability".
(If converged_param_type is set to 0, we can use "transfomation probability" as before.)
Background
In ndt_scan_matcher, the success or failure of convergence is determined by the Transformation Probability (TP).
However, there are some factors that cause the TP to fluctuate regardless of the convergence result, as shown in the following example, which often leads to misjudgment.
Therefore, I propose a new score that has less of this dependency.
Evaluation results
Graphing each score when offset from the correct position using rosbag in urban areas.
Transformation Probability
Nearest Voxel Transformation Probability
Consideration
The TP is highly variable, so it is not appropriate to use it to determine convergence.
The NVTP has a more stable value than TP, so we should use the NVTP instead of the TP.
Review Procedure(required)
Build with tier4/autoware_launch#198,
tier4/ndt_omp#10and tier4/ndt_omp#13.Related PR(optional)
Pre-Review Checklist for the PR Author
PR Author should check the checkboxes below when creating the PR.
If you are adding new package following items are required:
Checklist for the PR Reviewer
Reviewers should check the checkboxes below before approval.
Post-Review Checklist for the PR Author
PR Author should check the checkboxes below before merging.
CI Checks