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fix(simple_planning_simulator): fix bug in function to apply noise #665

Merged
merged 1 commit into from
Apr 11, 2022
Merged

fix(simple_planning_simulator): fix bug in function to apply noise #665

merged 1 commit into from
Apr 11, 2022

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@satoshi-ota satoshi-ota commented Apr 11, 2022 •
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Signed-off-by: satoshi-ota [email protected]

Description

  • fix bug in add_measurement_noise()

Please set add_measurement_noise as Ture in config file simulator_model.param.yaml in order to reproduce this invalid behavior. The config file may be in *_description/config/simulator_model.param.yaml.

with bug (vehicle velocity has diverged.)

simplescreenrecorder-2022-04-11_10.57.58.mp4

without bug

simplescreenrecorder-2022-04-11_10.54.49.mp4

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TakaHoribe
TakaHoribe approved these changes Apr 11, 2022
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LGTM

@satoshi-ota satoshi-ota enabled auto-merge (squash) April 11, 2022 02:24
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codecov bot commented Apr 11, 2022

Codecov Report

Merging #665 (6695e24) into main (2f595b2) will not change coverage.
The diff coverage is 0.00%.

@@           Coverage Diff           @@
##             main     #665   +/-   ##
=======================================
  Coverage   10.61%   10.61%           
=======================================
  Files         734      734           
  Lines       51656    51656           
  Branches     6596     6596           
=======================================
  Hits         5482     5482           
  Misses      41714    41714           
  Partials     4460     4460
Flag Coverage Δ *Carryforward flag
differential 57.02% <0.00%> (?)
total 10.61% <0.00%> (ø) Carriedforward from 2f595b2

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...nning_simulator/simple_planning_simulator_core.cpp 41.43% <0.00%> (ø)

Continue to review full report at Codecov.

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@satoshi-ota satoshi-ota merged commit 718a040 into autowarefoundation:main Apr 11, 2022
@satoshi-ota satoshi-ota deleted the fix/simple-planning-simulator branch April 11, 2022 02:25
This was referenced Apr 11, 2022
Merged
Merged
13304490790 pushed a commit to 13304490790/autoware.universe that referenced this pull request Apr 12, 2022
@taikitanaka3 @mitsudome-r
@nnmm @TakaHoribe @esteve @k0suke-murakami @wep21 @tkimura4 @isamu-takagi @kmiya @vios-fish @adamdbrw @kenji-miyake @KeisukeShima @h-ohta @kyoichi-sugahara @takayuki5168
feat: add vehicle cmd gate package (autowarefoundation#75)
bc874e6 
* release v0.4.0

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <[email protected]>

* add sample ros2 packages

Signed-off-by: mitsudome-r <[email protected]>

* remove ROS1 packages

Signed-off-by: mitsudome-r <[email protected]>

* Revert "remove ROS1 packages temporarily"

This reverts commit 2a28a5337292877f9d5cb33e083626930c170ff1.

Signed-off-by: mitsudome-r <[email protected]>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <[email protected]>

* Port vehicle_cmd_gate to ROS2 (autowarefoundation#3)

* Port vehicle_cmd_gate to ROS2

* Sim-time-respecting timer

* fix duration unit for RCLCPP_*_THROTTLE (autowarefoundation#75)

Signed-off-by: Takamasa Horibe <[email protected]>

* 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

* Added linters to vehicle_cmd_gate (autowarefoundation#168)

* Added linters to vehicle_cmd_gate

* Use ament_cmake_cppcheck and ament_cmake_cpplint

* Fix linting errors

* Make launch files load vehicle model params dependent on argument (autowarefoundation#228)

* Make vehicle_model configurable in behavior_velocity_planner

* Make vehicle_model configurable in vehicle_cmd_gate

* change from vehicle_model to vehicle_param_file (autowarefoundation#242)

Signed-off-by: kosuke murakami <[email protected]>

* [update to v0.8.0] vehicle cmd gate (autowarefoundation#252)

* [vehicle_cmd_gate]: Fix launch (autowarefoundation#320)

Signed-off-by: wep21 <[email protected]>

* Ros2 v0.8.0 engage (autowarefoundation#342)

* [autoware_vehicle_msgs]: Add engage message

Signed-off-by: wep21 <[email protected]>

* [as]: Update message

Signed-off-by: wep21 <[email protected]>

* [awapi_awiv_adapter]: Update message

Signed-off-by: wep21 <[email protected]>

* [web_controller]: Update message

Signed-off-by: wep21 <[email protected]>

* [vehicle_cmd_gate]: Update message

Signed-off-by: wep21 <[email protected]>

* [autoware_state_monitor]: Update message

Signed-off-by: wep21 <[email protected]>

* [autoware_control_msgs]: Remove EngageMode message

Signed-off-by: wep21 <[email protected]>

* [simple_planning_simulator]: Update message

Signed-off-by: wep21 <[email protected]>

* Ros2 v0.8.0 fix packages (autowarefoundation#351)

* add subscription to QoS

* add vihicle_param _file to simple_planning_sim

* update cmake/packages.xml

* comment out unused parameter

* apply lint

* add vehicle_info_util to lane_change_planner

* add vehicle_info_util to vehicle_cmd_gate

* fix cmake of simple planning simulator

* update cmake/packages.xml of vehicle cmd gate

* apply lint

* apply lint

* add latch option to autoware_state_monitor

* delete unused comment

* Ros2 fix service name (autowarefoundation#448)

* [vehicle_cmd_gate]: Fix sevice name

Signed-off-by: wep21 <[email protected]>

* [vehicle_cmd_gate]: Fix variable name

Signed-off-by: wep21 <[email protected]>

* 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/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]>

* Unify Apache-2.0 license name (autowarefoundation#1242)

* Make control modules components (autowarefoundation#1262)

Signed-off-by: wep21 <[email protected]>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <[email protected]>

* Porting remote cmd selector (autowarefoundation#1286)

* Feature/add remote cmd selector (autowarefoundation#1179)

* Add in/out args of remote_cmd_converter.launch

Signed-off-by: Kenji Miyake <[email protected]>

* Change remote input topic of vehicle_cmd_gate

Signed-off-by: Kenji Miyake <[email protected]>

* Add msgs for remote_cmd_selector

Signed-off-by: Kenji Miyake <[email protected]>

* Add remote_cmd_selector

Signed-off-by: Kenji Miyake <[email protected]>

* Rename remote_cmd_selector to external_cmd_selector

Signed-off-by: Kenji Miyake <[email protected]>

* Remove VehicleCommand support in autoware_joy_controller

Signed-off-by: Kenji Miyake <[email protected]>

* Support external_cmd_source in autoware_joy_controller.launch (autowarefoundation#1194)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix porting miss

Signed-off-by: Kenji Miyake <[email protected]>

* fix missing function

* modify xml format

* fix include guard

* add callback group

* modify remap name

* Revert "modify remap name"

This reverts commit 169cc8d28442825b1d61b0439b9892c913304527.

* change topic name

* use rclcpp_component

* Remove autoware_debug_msgs from autoware_joy_controller

Signed-off-by: Kenji Miyake <[email protected]>

* Change default mode of autoware_joy_controller

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* Refactor vehicle info util (autowarefoundation#1305)

* Update license

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor vehicle_info_util

Signed-off-by: Kenji Miyake <[email protected]>

* Rename and split files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix interfaces

Signed-off-by: Kenji Miyake <[email protected]>

* Fix bug and add error handling

Signed-off-by: Kenji Miyake <[email protected]>

* Add "// namespace"

Signed-off-by: Kenji Miyake <[email protected]>

* Add missing include

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]>

* suppress warnings for control packages (autowarefoundation#1892)

* add Werror

* add maybe unused

* Add autoware api (autowarefoundation#1979)

* 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

* fix subscription topic name (autowarefoundation#2076)

* Add emergency status API (autowarefoundation#2174)

* Fix lateral jerk filter in vehicle cmd gate (autowarefoundation#1657)

* fix lateral jerk limitter

Signed-off-by: Takamasa Horibe <[email protected]>

* add const on filter methods

Signed-off-by: Takamasa Horibe <[email protected]>

* add test in vehicle_cmd_gate pkg

Signed-off-by: Takamasa Horibe <[email protected]>

* remove debug code & add comment

Signed-off-by: Takamasa Horibe <[email protected]>

* cosmetic change

Signed-off-by: Takamasa Horibe <[email protected]>

* Update control/vehicle_cmd_gate/src/vehicle_cmd_filter.cpp

Co-authored-by: Takamasa Horibe <[email protected]>

* [vehicle_cmd_gate] parametrize acceleration (autowarefoundation#1771)

* [vehicle_cmd_gate] parametrize acceleration

Signed-off-by: TakaHoribe <[email protected]>

* fix typo

Signed-off-by: TakaHoribe <[email protected]>

* Update control/vehicle_cmd_gate/include/vehicle_cmd_gate/vehicle_cmd_gate.hpp

* Update control/vehicle_cmd_gate/include/vehicle_cmd_gate/vehicle_cmd_gate.hpp

* Update control/vehicle_cmd_gate/config/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 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]>

* [vehicle cmd gate] porting vehicle cmd gate (autowarefoundation#609)

* remove colcon_ignore

* add auto msg

* add steering report as a temporary

* update

* add README

* update

* delete .iv 's system msgs

* run pre-commit

* modify topic name

* shift to gear

* fix typo

* add command

* Update control/vehicle_cmd_gate/README.md

fix typo

Co-authored-by: Takayuki Murooka <[email protected]>

Co-authored-by: Takayuki Murooka <[email protected]>

* adapt to actuation cmd/status as control msg (autowarefoundation#646)

* adapt to actuation cmd/status as control msg

* fix readme

* fix topics

* fix remaing topics

* as to pacmod interface

* fix vehicle status

* add header to twist

* revert gyro_odometer_change

* revert twist topic change

* revert unchanged package

* fix emergency command (autowarefoundation#665)

* fix emergency command

* for better look

* fix turn signal topic

* [vehicle_cmd_gate]add readme (autowarefoundation#624)

* add README

* update

* update

* update

* Update control/vehicle_cmd_gate/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update control/vehicle_cmd_gate/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update control/vehicle_cmd_gate/README.md

Co-authored-by: taikitanaka3 <[email protected]>

* Update control/vehicle_cmd_gate/README.md

Co-authored-by: taikitanaka3 <[email protected]>

* change discription of Ackermann control command

* add private namespace for topic names

Signed-off-by: Takamasa Horibe <[email protected]>

* fix pre commit

Signed-off-by: Takamasa Horibe <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>

* set default gear (autowarefoundation#675)

Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Esteve Fernandez <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[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]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Taichi Higashide <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Sugatyon <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@satoshi-ota @boyali
fix(simple_planning_simulator): fix bug in function to apply noise (t…
45ea192 
…ier4#665)

Signed-off-by: satoshi-ota <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@satoshi-ota @boyali
fix(simple_planning_simulator): fix bug in function to apply noise (t…
f67c7ac 
…ier4#665)

Signed-off-by: satoshi-ota <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@satoshi-ota @boyali
fix(simple_planning_simulator): fix bug in function to apply noise (t…
0dde480 
…ier4#665)

Signed-off-by: satoshi-ota <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@satoshi-ota @boyali
fix(simple_planning_simulator): fix bug in function to apply noise (t…
65ae19b 
…ier4#665)

Signed-off-by: satoshi-ota <[email protected]>
soblin pushed a commit to soblin/autoware.universe that referenced this pull request Jul 25, 2023
@kosuke55
feat(start_planner): add offset to not finish before engage (autoware…
529603b 
…foundation#4121) (autowarefoundation#665)

feat(start_planner): add offset to not finish before engage (autowarefoundation#4121)

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