feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area #8295

beyzanurkaya · 2024-07-31T12:50:30Z

Description

How was this PR tested?

2024-08-22.17-57-15.mp4

Notes for reviewers

None.

Interface changes

Parameter Name	Type	Default Value	Description
`expand_drivable_area`	`bool`	`false`	expand drivable area while avoiding

Effects on system behavior

None.

github-actions · 2024-07-31T12:50:46Z

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beyzanurkaya · 2024-08-12T13:54:02Z

I achieved to expand the drivable area, but the expansion ends the moment the EGO passes the object.

expansion-drivable-area.mp4

yuki-takagi-66 · 2024-08-23T10:51:15Z

@beyzanurkaya
Thank you for the improved PR.
We are welcome for this PR. However, as the Tier4 side, we would like to disable this feature because the current behavior is not safe enough for use on public loads.
Therefore, can I ask you to prepare the flag parameter for the new feature and set it as disabled?

beyzanurkaya · 2024-08-26T14:44:30Z

@yuki-takagi-66 -san I add a flag for the expansion feature.

yuki-takagi-66

Thank you for your response. I made some comments, could you take a look?

...behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp

..._avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp

beyzanurkaya · 2024-08-27T12:46:25Z

Thanks for your review @yuki-takagi-66 -san. I edited the code according to your comments.

...behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml

..._avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp

beyzanurkaya · 2024-09-02T08:33:06Z

@yuki-takagi-66 -san, I made the changes you wanted.

codecov · 2024-09-02T10:37:23Z

Codecov Report

Attention: Patch coverage is 0% with 91 lines in your changes missing coverage. Please review.

Project coverage is 24.07%. Comparing base (a6f218a) to head (a058f2f).
Report is 10 commits behind head on main.

Files with missing lines	Patch %	Lines
...th_dynamic_obstacle_avoidance_module/src/scene.cpp	0.00%	89 Missing ⚠️
..._dynamic_obstacle_avoidance_module/src/manager.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #8295      +/-   ##
==========================================
- Coverage   24.10%   24.07%   -0.03%     
==========================================
  Files        1406     1409       +3     
  Lines      102314   102439     +125     
  Branches    38833    38855      +22     
==========================================
+ Hits        24666    24667       +1     
- Misses      75103    75228     +125     
+ Partials     2545     2544       -1

Flag	Coverage Δ		*Carryforward flag
differential	`13.41% <0.00%> (?)`
total	`24.10% <ø> (+<0.01%)`	⬆️	Carriedforward from a6f218a

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

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yuki-takagi-66 · 2024-09-03T02:39:05Z

@yuki-takagi-66 -san, I made the changes you wanted.

Thank you. I'll review

yuki-takagi-66

Thank you. LGTM

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

…ble area (autowarefoundation#8295) * add expansion drivable area feature Signed-off-by: beyza <[email protected]> * make expansion optional Signed-off-by: beyza <[email protected]> * style(pre-commit): autofix * clean the code Signed-off-by: beyza <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: beyza <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: emuemuJP <[email protected]>

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Jul 31, 2024

beyzanurkaya self-assigned this Jul 31, 2024

beyzanurkaya force-pushed the expand-drivable-area branch from ae34809 to b36efa1 Compare August 1, 2024 15:17

beyzanurkaya force-pushed the expand-drivable-area branch from 9e372cc to bb53929 Compare August 12, 2024 07:48

beyzanurkaya force-pushed the expand-drivable-area branch from bb53929 to f0727a0 Compare August 13, 2024 07:03

beyzanurkaya added the type:new-feature New functionalities or additions, feature requests. label Aug 13, 2024

beyzanurkaya force-pushed the expand-drivable-area branch 11 times, most recently from cf30940 to c263e77 Compare August 22, 2024 15:08

beyzanurkaya mentioned this pull request Aug 22, 2024

feat(autoware_launch): add expansion params autowarefoundation/autoware_launch#1133

Merged

4 tasks

beyzanurkaya marked this pull request as ready for review August 22, 2024 15:17

beyzanurkaya requested review from kosuke55, satoshi-ota, takayuki5168 and yuki-takagi-66 as code owners August 22, 2024 15:17

yuki-takagi-66 self-assigned this Aug 23, 2024

beyzanurkaya force-pushed the expand-drivable-area branch 3 times, most recently from 5d52209 to 0776b68 Compare August 26, 2024 08:27

beyzanurkaya force-pushed the expand-drivable-area branch 2 times, most recently from 6cf02cb to 693127c Compare August 26, 2024 13:23

beyzanurkaya marked this pull request as ready for review August 26, 2024 14:43

yuki-takagi-66 reviewed Aug 27, 2024

View reviewed changes

...behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/src/scene.cpp Show resolved Hide resolved

..._avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp Outdated Show resolved Hide resolved

beyzanurkaya force-pushed the expand-drivable-area branch 3 times, most recently from a916d3c to 6783306 Compare August 27, 2024 12:45

beyzanurkaya added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 27, 2024

yuki-takagi-66 reviewed Aug 30, 2024

View reviewed changes

...behavior_path_dynamic_obstacle_avoidance_module/config/dynamic_obstacle_avoidance.param.yaml Outdated Show resolved Hide resolved

..._avoidance_module/include/autoware/behavior_path_dynamic_obstacle_avoidance_module/scene.hpp Outdated Show resolved Hide resolved

beyzanurkaya force-pushed the expand-drivable-area branch from 221ad9e to a232148 Compare September 2, 2024 08:31

beyzanurkaya force-pushed the expand-drivable-area branch from e305117 to 073cec5 Compare September 2, 2024 10:23

beyzanurkaya force-pushed the expand-drivable-area branch 2 times, most recently from fbb7212 to eff8913 Compare September 3, 2024 14:26

xmfcx requested a review from yuki-takagi-66 September 3, 2024 16:14

xmfcx unassigned yuki-takagi-66 Sep 3, 2024

yuki-takagi-66 approved these changes Sep 4, 2024

View reviewed changes

beyzanurkaya and others added 5 commits September 4, 2024 12:05

add expansion drivable area feature

6c9baf3

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

make expansion optional

5507798

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

style(pre-commit): autofix

3830d2c

clean the code

f8738ca

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

style(pre-commit): autofix

a058f2f

beyzanurkaya force-pushed the expand-drivable-area branch from eff8913 to a058f2f Compare September 4, 2024 09:05

beyzanurkaya merged commit 6b6708c into autowarefoundation:main Sep 5, 2024
29 of 31 checks passed

beyzanurkaya deleted the expand-drivable-area branch September 5, 2024 06:58

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feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area #8295

feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area #8295

beyzanurkaya commented Jul 31, 2024 •

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feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area #8295

feat(autoware_behavior_path_dynamic_obstacle_avoidance): expand drivable area #8295

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beyzanurkaya commented Jul 31, 2024 • edited Loading

Description

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How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Jul 31, 2024 • edited Loading

beyzanurkaya commented Aug 12, 2024

yuki-takagi-66 commented Aug 23, 2024

beyzanurkaya commented Aug 26, 2024

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