fix(costmap_generator): restrict costmap within parking lot #996

NorahXiong · 2022-05-30T10:07:43Z

Signed-off-by: NorahXiong [email protected]

Description

fix #947

Tests performed

Tested in planning simulator.

Before fixing: nearby roads are included in freespace planning boundary

After fixing: only parking lot is able for freespace planning

Notes for reviewers

This fixing is only for parking scenario. Not sure if costmap_generator will be used for other scenarios in the future. If so, this fixing may be inappropriate and more comprehensive design is needed.

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kenji-miyake · 2022-05-30T10:22:49Z

planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp

@@ -276,7 +276,6 @@ void CostmapGenerator::onLaneletMapBin(
  lanelet::utils::conversion::fromBinMsg(*msg, lanelet_map_);

  if (use_wayarea_) {
-    loadRoadAreasFromLaneletMap(lanelet_map_, &area_points_);


I think, if you remove this we can't support the case when lanes are not in free space areas like this. (Please regard the red areas are not free space areas.)

Therefore, the vehicle can't plan a trajectory after reaching the blue circle point.

I did take this case into consideration but I think the lanes and the parking lot are meant to be overlapped as the comment of "getLinkedParkingLot" indicates.
https://github.com/autowarefoundation/autoware.universe/blob/main/map/lanelet2_extension/lib/query.cpp#L437
Not sure about that, if it is not the convention, maybe some guidelines for map producing should be provided.

Besides, it seems no departure strategy is implemented for parking scenario so far. So I think the car can not reach the blue point from a parking spot.

@NorahXiong Thank you for your comment!

I did take this case into consideration but I think the lanes and the parking lot are meant to be overlapped as the comment of "getLinkedParkingLot" indicates.

I see. Let me ask other engineers about the map spec. 🙇
@mitsudome-r @xmfcx @yukkysaito Is it reasonable to assume that lanes are overlapped with free spaces in a parking lot?

maybe some guidelines for map producing should be provided.

Yes, it is really desired. But there is no good one, we're sorry about that. 😢

Besides, it seems no departure strategy is implemented for parking scenario so far. So I think the car can not reach the blue point from a parking spot.

In this case, I think the vehicle should start with the lane driving scenario.
(If not, I guess it's a bug.)

@mitsudome-r @xmfcx @yukkysaito Is it reasonable to assume that lanes are overlapped with free spaces in a parking lot?

IMO, the assumption is ok.
If we don't allow this assumption, some people can make like the following figure (green is the parking area).
Then green area borders must be shared with road lanes. It is difficult to create such a map.

codecov · 2022-05-30T10:24:32Z

Codecov Report

Merging #996 (c73853d) into main (d845a78) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main     #996      +/-   ##
==========================================
- Coverage   10.92%   10.91%   -0.01%     
==========================================
  Files        1037     1037              
  Lines       69354    69460     +106     
  Branches    17824    17826       +2     
==========================================
+ Hits         7574     7584      +10     
- Misses      53470    53565      +95     
- Partials     8310     8311       +1

Flag	Coverage Δ		*Carryforward flag
differential	`32.27% <0.00%> (?)`
total	`10.92% <0.00%> (ø)`		Carriedforward from d845a78

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

Impacted Files	Coverage Δ
...nodes/costmap_generator/costmap_generator_node.cpp	`0.00% <0.00%> (ø)`
...rator/nodes/costmap_generator/object_map_utils.cpp	`0.00% <0.00%> (ø)`
.../costmap_generator/test/test_points_to_costmap.cpp	`65.16% <0.00%> (-0.75%)`	⬇️
...costmap_generator/test/test_objects_to_costmap.cpp	`76.27% <0.00%> (+0.40%)`	⬆️
...ator/nodes/costmap_generator/points_to_costmap.cpp	`82.35% <0.00%> (+0.72%)`	⬆️
...tor/nodes/costmap_generator/objects_to_costmap.cpp	`33.33% <0.00%> (+5.33%)`	⬆️

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kenji-miyake · 2022-06-10T05:35:36Z

I'll ask some people who are familiar with the Parking components.

kenji-miyake · 2022-06-10T05:44:47Z

@NorahXiong By the way, could you confirm the guidelines and check these boxes, please?

NorahXiong · 2022-06-10T05:50:14Z

@NorahXiong By the way, could you confirm the guidelines and check these boxes, please?

Confirmed now.

TakaHoribe · 2022-06-10T12:07:26Z

@NorahXiong
Thank you for your contribution.
This module is currently used only for parking purpose but could be extended to any freespace planning usecases.
So we should have options for users to select the planning area.
Would you add parameters to select the planning areas in both yaml file and cpp code? It's going to be like:

use_wayarea: true
use_parkinglot: true

if (use_wayarea_) {
    loadRoadAreasFromLaneletMap(lanelet_map_, &area_points_);
}
if (use_parkinglot_) {
    loadParkingAreasFromLaneletMap(lanelet_map_, &area_points_);
}

Please let both true for now since the map used in the tutorial doesn't have an overlapping area.

kenji-miyake · 2022-06-12T23:25:22Z

Please let both true for now since the map used in the tutorial doesn't have an overlapping area.

@TakaHoribe Please let me confirm this sentence.
Why did you think "the map used in the tutorial doesn't have an overlapping area"?
I think it does have an overlapping area, and enabling wayarea causes this issue.
So I believe use_wayarea_ should be false. Am I wrong? 🤔

mitsudome-r · 2022-06-21T08:40:57Z

From the ASWG discussion, @xmfcx and @mitsudome-r agreed to add a parameter as mentioned by @TakaHoribe 's comment.

@NorahXiong Could you modify the code and add a parameter for users to select which map primitives will be used for free space?

NorahXiong · 2022-06-21T09:37:52Z

From the ASWG discussion, @xmfcx and @mitsudome-r agreed to add a parameter as mentioned by @TakaHoribe 's comment.

@NorahXiong Could you modify the code and add a parameter for users to select which map primitives will be used for free space?

Sure. I will work on it.

xmfcx · 2022-07-19T08:38:31Z

@TakaHoribe could you review this please?

TakaHoribe · 2022-07-19T08:50:58Z

@xmfcx Sorry for my late. I'll take it.

TakaHoribe

LGTM.

Confirmed works well in my environment.

use_wayarea = true

use_wayarea = false

TakaHoribe · 2022-07-20T06:33:47Z

@NorahXiong Sorry for the long wait. Thank you for your work!

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

…foundation#996) * fix(costmap_generator): restrict costmap within parking lot Signed-off-by: NorahXiong <[email protected]> * add parameters for free space planning area selection Signed-off-by: NorahXiong <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(costmap_generator): restrict costmap within parking lot Signed-off-by: NorahXiong <[email protected]> * add parameters for free space planning area selection Signed-off-by: NorahXiong <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…foundation#996) * fix(costmap_generator): restrict costmap within parking lot Signed-off-by: NorahXiong <[email protected]> * add parameters for free space planning area selection Signed-off-by: NorahXiong <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(costmap_generator): restrict costmap within parking lot Signed-off-by: NorahXiong <[email protected]> * add parameters for free space planning area selection Signed-off-by: NorahXiong <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

…dar_tracking_algorithm chore(radar_object_tracker): refine radar object tracker

NorahXiong requested a review from tkimura4 May 30, 2022 10:18

kenji-miyake reviewed May 30, 2022

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NorahXiong requested review from kenji-miyake and removed request for tkimura4 June 10, 2022 05:11

xmfcx self-requested a review June 14, 2022 16:07

NorahXiong requested a review from TakaHoribe June 29, 2022 06:27

xmfcx added this to the Bus ODD Sep-Oct Milestone milestone Jul 19, 2022

TakaHoribe approved these changes Jul 20, 2022

View reviewed changes

Sharrrrk enabled auto-merge (squash) July 25, 2022 09:26

NorahXiong and others added 3 commits August 5, 2022 12:53

fix(costmap_generator): restrict costmap within parking lot

ae074ab

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

add parameters for free space planning area selection

7ce253e

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

ci(pre-commit): autofix

c73853d

mitsudome-r force-pushed the fix/947 branch from 914bf52 to c73853d Compare August 5, 2022 03:53

Sharrrrk merged commit 1e9e9af into autowarefoundation:main Aug 5, 2022

tier4-autoware-public-bot bot mentioned this pull request Aug 6, 2022

chore: sync upstream tier4/autoware.universe#91

Merged

YoshiRi pushed a commit to YoshiRi/autoware.universe that referenced this pull request Oct 31, 2023

Merge pull request autowarefoundation#996 from YoshiRi/feat/refine_ra…

cf64cca

…dar_tracking_algorithm chore(radar_object_tracker): refine radar object tracker

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fix(costmap_generator): restrict costmap within parking lot #996

fix(costmap_generator): restrict costmap within parking lot #996

NorahXiong commented May 30, 2022 •

edited by TakaHoribe

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fix(costmap_generator): restrict costmap within parking lot #996

fix(costmap_generator): restrict costmap within parking lot #996

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NorahXiong commented May 30, 2022 • edited by TakaHoribe Loading

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