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fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision #917

Merged
merged 8 commits into from
May 19, 2022
Merged

fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision #917

merged 8 commits into from
May 19, 2022

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h-ohta
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@h-ohta h-ohta commented May 17, 2022 •
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Description

  • extend +1 following and previous search range to avoid no collision
  • add debug marker to confirm this module ( I'll remove when the review is over)

Related links

Tests performed

Before
image

After
image

In planning_simulator...

  1. add start and goal near stopline like above image
  2. add a dummy obstacle near stopline like above image
  3. engage
  4. When the path is near the dummy obstacle, behavior_path_planner change module, lane_following to Avoidance
  5. Before: Stopline is disappeared like before image
  6. After: Stopline keeps to appear like after image

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@h-ohta h-ohta requested a review from taikitanaka3 May 17, 2022 13:57
@h-ohta h-ohta marked this pull request as draft May 17, 2022 13:58
@h-ohta h-ohta changed the title fix(behavior_velocity_planner.stopline): extend following and previous search range to avoida collision fix(behavior_velocity_planner.stopline): extend following and previous search range to avoid no collision May 17, 2022
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codecov bot commented May 18, 2022 •
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Codecov Report

Merging #917 (48554ac) into main (90f8d8c) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #917      +/-   ##
========================================
- Coverage   9.53%   9.53%   -0.01%     
========================================
  Files        931     931              
  Lines      57687   57728      +41     
  Branches   10403   10436      +33     
========================================
  Hits        5502    5502              
- Misses     47656   47696      +40     
- Partials    4529    4530       +1
Flag Coverage Δ *Carryforward flag
differential 6.26% <0.00%> (?)
total 9.53% <0.00%> (ø) Carriedforward from 755fab0

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

Impacted Files Coverage Δ
...ocity_planner/src/scene_module/stop_line/scene.cpp 0.00% <0.00%> (ø)
...er/include/scene_module/scene_module_interface.hpp 0.00% <0.00%> (ø)

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taikitanaka3
taikitanaka3 reviewed May 18, 2022
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Looks Good！

Can you test at edge case invironment？

@h-ohta h-ohta requested a review from taikitanaka3 May 19, 2022 02:23
@h-ohta h-ohta marked this pull request as ready for review May 19, 2022 02:23
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h-ohta commented May 19, 2022

@taikitanaka3 I've deleted debug codes.
I'll make another PR.

@h-ohta h-ohta enabled auto-merge (squash) May 19, 2022 04:57
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LGTM
can you add this to release note?

@h-ohta h-ohta merged commit ac400df into autowarefoundation:main May 19, 2022
@h-ohta h-ohta deleted the fix/stopline branch May 19, 2022 05:21
@h-ohta h-ohta mentioned this pull request May 19, 2022
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@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request May 20, 2022
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shmpwk pushed a commit to shmpwk/autoware.universe that referenced this pull request May 24, 2022
@h-ohta @pre-commit-ci @shmpwk
fix(behavior_velocity_planner.stopline): extend following and previou…
834e19b 
…s search range to avoid no collision (autowarefoundation#917)

* fix: extend following and previous search range to avoid no collision

* chore: add debug marker

* fix: simplify logic

* chore: update debug code

Signed-off-by: h-ohta <[email protected]>

* fix: delete space

* fix: some fix

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shmpwk added a commit that referenced this pull request May 24, 2022
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ktro2828 pushed a commit to ktro2828/autoware.universe that referenced this pull request Jun 7, 2022
@h-ohta @pre-commit-ci @ktro2828
fix(behavior_velocity_planner.stopline): extend following and previou…
f0981ea 
…s search range to avoid no collision (autowarefoundation#917)

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ktro2828 pushed a commit to ktro2828/autoware.universe that referenced this pull request Jun 7, 2022
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YoheiMishina added a commit to YoheiMishina/autoware.universe that referenced this pull request Jun 9, 2022
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feat : add common math (autowarefoundation#26)
52b809b 
* release v0.4.0

* Add spline interpolation library (autowarefoundation#705)

* Feature/intersection use spline interpolation library (autowarefoundation#710)

* Use spline_interpolation module

* Remove debug messages

* Fix/spline interpolation in intersection module (autowarefoundation#726)

* Remove duplicating sample points

* Change isValidInput

* Apply clang-format

* Fix convergence check in PCG

* update osqp interface (autowarefoundation#730)

* remove ROS1 packages temporarily

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* add sample ros2 packages

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

* remove ROS1 packages

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* Revert "remove ROS1 packages temporarily"

This reverts commit 7127cf7.

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* add COLCON_IGNORE to ros1 packages

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* Port osqp-interface to ros2 (autowarefoundation#45)

It doesn't use any ros functionality so the source code is unchanged, only `package.xml` and `CMakeLists.txt` needed to
be modified. But osqp is added through a vendor package created at https://github.com/tier4/osqp_vendor

To test this locally, eigen needs to be installed in the environment with

    sudo apt install libeigen3-dev

* Port spline interpolation to ros2. (autowarefoundation#65)

* Fix osqp_interface dependencies (autowarefoundation#66)

* [osqp_interface] fix eigen3 dependencies

fixes autowarefoundation#63

* Fix link order in consumers of osqp_interface

* Update logger name for SOR class (autowarefoundation#87)

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* 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: osqp_interface (autowarefoundation#202)

* Add linters

* Fix clang-tidy missing header error

* ROS2 Linting: spline_interpolation (autowarefoundation#203)

* Add linters and fix indentation in package.xml

* Address PR comments:
 - Convert indents to spaces

* Use two spaces for indent

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* Fix out-of-range bug of spline_interpolation (autowarefoundation#917) (autowarefoundation#273)

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* Ros2 v0.8.0 osqp interface (autowarefoundation#271)

* restore file name for v0.8.0 update

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* Fix typos in common modules (autowarefoundation#914)

* fix typos in common modules

* minor fix (lowercasing)

* revert changes in PathPoint.msg

* Fix/osqp interface api error (autowarefoundation#969)

* [osqp_interface] fix update setting api

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* [osqp_interface] fix format

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* Revert "restore file name for v0.8.0 update"

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* Ros2 v0.8.0 ekf localizer (autowarefoundation#270)

* restore file name for v0.8.0 update

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* fix typos in localization (autowarefoundation#890)

* move kalman filter to lib package (autowarefoundation#1141)

* move kalman filter to lib package

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* Revert "restore file name for v0.8.0 update"

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* Feature/ekf tracker (autowarefoundation#1158) (autowarefoundation#381)

* Feature/ekf tracker (autowarefoundation#1158)

* change to ekf tracker

* visualize covariance

* cosmetic change

* cosmetic change

* change param

* add multi model ekf tracker (autowarefoundation#1165)

* add multi model ekf tracker

* cosmetic change

* cosmetic change

* add iou filter

* change correct license

* change correct license

* cosmetic change

* bug fix

* cosmetic change

* check clockwise

* change param

* bug fix

* cosmetic change

* add comment

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* cosmetic change

* cosmetic change

* apply format

* apply format

* fix config name

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* [multi_object_tracker] fix lint errors

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* fix include brackets

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* Fix typo in common module (autowarefoundation#433)

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

* Make control modules components (autowarefoundation#1262)

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* Make planning modules components (autowarefoundation#1263)

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* Porting small fix (autowarefoundation#1288)

* Delete unused code (autowarefoundation#1183)

* Fix control topic name of closest_velocity_checker.py (autowarefoundation#1174)

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* Add comments for livox tag (autowarefoundation#1188)

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* Clear return value (autowarefoundation#1193)

* Change tracker model of unknown object (autowarefoundation#1204)

* treat polygon points as relative (autowarefoundation#1205)

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* hotfix: reference velocity in consideration of vehicle gear (autowarefoundation#1213)

* fix reference velocity for vehicle gear

* add initialization

* revert

* add comment

* change max area param (autowarefoundation#1218)

* Fix an identical code for different branches (autowarefoundation#1230)

* Update livox_tag_filter.launch.xml

* Fixup

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* Fix osqp interface double free problem (autowarefoundation#1327)

* Use smart pointers for members

* Add test code

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* add new updater function to osqp_interface (autowarefoundation#1433) (autowarefoundation#1483)

* add new updater function

* modify spell

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* Add pre-commit (autowarefoundation#1560)

* add pre-commit

* add pre-commit-config

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boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@h-ohta @pre-commit-ci @boyali
fix(behavior_velocity_planner.stopline): extend following and previou…
0b2f987 
…s search range to avoid no collision (tier4#917)

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boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@shmpwk @h-ohta
@pre-commit-ci @IshitaTakeshi @kenji-miyake @satoshi-ota @soblin @TakumiKozaka-T4 @isamu-takagi @takayuki5168 @TakaHoribe @storrrrrrrrm @brkay54 @ito-san @kosuke55 @taikitanaka3 @kk-inoue-esol @rej55 @awf-autoware-bot @RyuYamamoto @kaancolak @boyali
docs: update link style and fix typos (tier4#950)
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boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@h-ohta @pre-commit-ci @boyali
fix(behavior_velocity_planner.stopline): extend following and previou…
576fa40 
…s search range to avoid no collision (tier4#917)

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boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@shmpwk @h-ohta
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docs: update link style and fix typos (tier4#950)
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boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@h-ohta @pre-commit-ci @boyali
fix(behavior_velocity_planner.stopline): extend following and previou…
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boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@shmpwk @h-ohta
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boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@h-ohta @pre-commit-ci @boyali
fix(behavior_velocity_planner.stopline): extend following and previou…
19466d7 
…s search range to avoid no collision (tier4#917)

* fix: extend following and previous search range to avoid no collision

* chore: add debug marker

* fix: simplify logic

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boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@shmpwk @h-ohta
@pre-commit-ci @IshitaTakeshi @kenji-miyake @satoshi-ota @soblin @TakumiKozaka-T4 @isamu-takagi @takayuki5168 @TakaHoribe @storrrrrrrrm @brkay54 @ito-san @kosuke55 @taikitanaka3 @kk-inoue-esol @rej55 @awf-autoware-bot @RyuYamamoto @kaancolak @boyali
docs: update link style and fix typos (tier4#950)
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* fix: extend following and previous search range to avoid no collision

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* fix(tier4_autoware_utils): use absolute value

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* fix(motion_velocity_smoother): fix overwriteStopPoint using backward point (tier4#816)

* fix(motion_velocity_smoother): fix overwriteStopPoint using backward point

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* Modify overwriteStopPoint input and output

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* feat(obstacle_avoidance_planner): explicitly insert zero velocity (tier4#906)

* feat(obstacle_avoidance_planner) fix bug of stop line unalignment

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* fix bug of unsorted output points

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* move calcVelocity in node.cpp

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* fix build error

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* feat(behavior_velocity): find occlusion more efficiently (tier4#829)

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* fix(system_monitor): add some smart information to diagnostics (tier4#708)

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* feat(obstacle_avoidance_planner): dealt with close lane change (tier4#921)

* feat(obstacle_avoidance_planner): dealt with close lane change

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* feat(obstacle_avoidance_planner): some fix for narrow driving (tier4#916)

* use car like constraints in mpt

* use not widest bounds for the first bounds

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* organized params

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* fix format

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* chore(obstacle_avoidance_planner): removed obsolete obstacle_avoidance_planner doc in Japanese (tier4#919)

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* chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check (tier4#932)

* chore(behavior_velocity_planner.stopline): add debug marker for stopline collision check

* feat: use marker helper

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* feat(map_loader): visualize center line by points (tier4#931)

* feat: visualize center line points

* fix: delete space

* feat: visualize center line by arrow

* revert insertMarkerArray

* fix: delete space

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* feat: add RTC interface (tier4#765)

* feature(rtc_interface): add files

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* feature(rtc_interface): implement functions

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* feature(rtc_interface): fix definition of constructor

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* feature(rtc_interface): fix time stamp

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* feature(rtc_interface): fix README

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* feature(rtc_interface): add isRegistered and clearCooperateStatus

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* chore: sync files (tier4#911)

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* fix: replace boost::mutex::scoped_lock to std::scoped_lock (tier4#907)

* fix: replace boost::mutex::scoped_lock to std::scoped_lock

* fix: replace boost::mutex to std::mutex

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* feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node (tier4#885)

* feat(tensorrt_yolo): add multi gpu support to tensorrt_yolo node

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* feat(tensorrt_yolo): update arg

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* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner (tier4#887)

* feat(tier4_planning_launch): create parameter yaml for behavior_velocity_planner

* Update launch/tier4_planning_launch/config/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml

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* some fix

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* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader (tier4#942)

* fix(map_loader): use std::filesystem to load pcd files in pointcloud_map_loader

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* fix(map_loader): remove c_str

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* fix(map_loader): replace c_str to string

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* fix: relative link

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* fix: relative links

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* fix: relative links

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* fix: relative links

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* fix: typo

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kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Oct 10, 2023
@maxime-clem
fix(behavior_path_planner): prevent crashes with the drivable area ex…
b5e0d3d 
…pansion (autowarefoundation#917)
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@h-ohta @taikitanaka3