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feat(behavior_velocity): add run out module (tier4#752)
* fix(behavior_velocity): calculate detection area from the nearest point from ego (tier4#730) * fix(behavior_velocity): calculate lateral distance from the beginning of the path Signed-off-by: Tomohito Ando <[email protected]> * add argument of min_velocity Signed-off-by: Tomohito Ando <[email protected]> * use veloicty from the nearest point from ego Signed-off-by: Tomohito Ando <[email protected]> * pass struct by reference Signed-off-by: Tomohito Ando <[email protected]> * fix to interpolate point in util Signed-off-by: Tomohito Ando <[email protected]> * fix(longitudinal_controller_node, vehicle_cmd_gate): update stopped condition and behavior (tier4#700) * fix(longitudinal_controller_node): parameterize stopped state entry condition Signed-off-by: satoshi-ota <[email protected]> * fix(longitudinal_controller_node): simply set stopped velocity in STOPPED STATE Signed-off-by: satoshi-ota <[email protected]> * fix(vehicle_cmd_gate): check time duration since the vehicle stopped Signed-off-by: satoshi-ota <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * docs(autoware_testing): fix link (tier4#741) * docs(autoware_testing): fix link * fix typo Co-authored-by: Kenji Miyake <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * fix: trajectory visualizer (tier4#745) Signed-off-by: tomoya.kimura <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * fix(tier4_autoware_utils): modify build error in rolling (tier4#720) * fix(tier4_autoware_utils): modify build error in rolling Signed-off-by: wep21 <[email protected]> * fix(lanelet2_extension): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(ekf_localizer): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(freespace_planning_algorithms): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(interpolation): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(freespace_planner): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(lane_departure_checker): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(map_based_prediction): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(ground_segmentation): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(motion_velocity_smoother): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(multi_object_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(trajectory_follower): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(control_performance_analysis): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(detected_object_validation): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(goal_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(ndt_scan_matcher): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(route_handler): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(behavior_path_planner): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(mission_planner): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(obstacle_avoidance_planner): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(obstacle_stop_planner): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(obstacle_collision_checker): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(shape_estimation): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(behavior_velocity_planner): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(path_distance_calculator): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(detection_by_tracker): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(surround_obstacle_checker): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(probabilistic_occupancy_grid_map): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(tier4_debug_tools): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(tier4_vehicle_rviz_plugin): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(pure_pursuit): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(trajectory_follower_nodes): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(occupancy_grid_map_outlier_filter): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(traffic_light_map_based_detector): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(planning_error_monitor): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(planning_evaluator): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> * fix(lidar_centerpoint): add target compile definition for geometry2 Signed-off-by: wep21 <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * fix(behavior_velocity): handle the case when finding index failed (tier4#746) Signed-off-by: Tomohito Ando <[email protected]> * feat: add scene module of dynamic obstacle stop Signed-off-by: Tomohito Ando <[email protected]> * fix warnings Signed-off-by: Tomohito Ando <[email protected]> * add temporary debug value Signed-off-by: Tomohito Ando <[email protected]> * add feature to go after stopping Signed-off-by: Tomohito Ando <[email protected]> * fix parameter namespace Signed-off-by: Tomohito Ando <[email protected]> * use planner util Signed-off-by: Tomohito Ando <[email protected]> * fix calculation when multiple obstacles are detected in one step polygon Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary debug Signed-off-by: Tomohito Ando <[email protected]> * add option to apply limit jerk Signed-off-by: Tomohito Ando <[email protected]> * Modify parameter name Signed-off-by: Tomohito Ando <[email protected]> * Add param file Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary comments Signed-off-by: Tomohito Ando <[email protected]> * add feature to exclude obstacles outside of partition Signed-off-by: Tomohito Ando <[email protected]> * modify search distance for partitions Signed-off-by: Tomohito Ando <[email protected]> * apply voxel grid filter to input points Signed-off-by: Tomohito Ando <[email protected]> * set smoother param by passing node instance Signed-off-by: Tomohito Ando <[email protected]> * add parameter for velocity limit (temporary) Signed-off-by: Tomohito Ando <[email protected]> * add dynamic reconfigure Signed-off-by: Tomohito Ando <[email protected]> * add debug value Signed-off-by: Tomohito Ando <[email protected]> * avoid acceleration when stopping for obstacles Signed-off-by: Tomohito Ando <[email protected]> * fix lateral distance to publish distance from vehicle side Signed-off-by: Tomohito Ando <[email protected]> * modify the location to publish longitudinal distance Signed-off-by: Tomohito Ando <[email protected]> * fix calculation of stop index Signed-off-by: Tomohito Ando <[email protected]> * use current velocity for stop dicision Signed-off-by: Tomohito Ando <[email protected]> * add dynamic parameter for slow down limit Signed-off-by: Tomohito Ando <[email protected]> * add debug value to display passing dist Signed-off-by: Tomohito Ando <[email protected]> * modify stopping velocity Signed-off-by: Tomohito Ando <[email protected]> * update param Signed-off-by: Tomohito Ando <[email protected]> * use smoother in planner data Signed-off-by: Tomohito Ando <[email protected]> * use path with lane id instead of trajectory Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary data check Signed-off-by: Tomohito Ando <[email protected]> * extend path to consider obstacles after the end of the path Signed-off-by: Tomohito Ando <[email protected]> * rename public member variables Signed-off-by: Tomohito Ando <[email protected]> * remove unused paramter Signed-off-by: Tomohito Ando <[email protected]> * create detection area using util Signed-off-by: Tomohito Ando <[email protected]> * fix visualization of stop distance marker Signed-off-by: Tomohito Ando <[email protected]> * make option for detection method easier to understand Signed-off-by: Tomohito Ando <[email protected]> * remove parameter about whether to enable this feature Signed-off-by: Tomohito Ando <[email protected]> * calculate and publish debug data in function Signed-off-by: Tomohito Ando <[email protected]> * use compare map filtered points Signed-off-by: Tomohito Ando <[email protected]> * add comment Signed-off-by: Tomohito Ando <[email protected]> * fix visualization of detection area when calculation of stop distance failed Signed-off-by: Tomohito Ando <[email protected]> * add option whether to specify the jerk Signed-off-by: Tomohito Ando <[email protected]> * fix format Signed-off-by: Tomohito Ando <[email protected]> * change parameter name Signed-off-by: Tomohito Ando <[email protected]> * remove dynamic reconfigure Signed-off-by: Tomohito Ando <[email protected]> * delete unused file Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary comments Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary includes Signed-off-by: Tomohito Ando <[email protected]> * add launcher for compare map Signed-off-by: Tomohito Ando <[email protected]> * add launch and config for dynamic obstacle stop planner Signed-off-by: Tomohito Ando <[email protected]> * fix finding package name Signed-off-by: Tomohito Ando <[email protected]> * handle the change of util Signed-off-by: Tomohito Ando <[email protected]> * relay points for simulation Signed-off-by: Tomohito Ando <[email protected]> * update parameter Signed-off-by: Tomohito Ando <[email protected]> * fix position and color of stop line marker Signed-off-by: Tomohito Ando <[email protected]> * pre-commit fixes Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary comments Signed-off-by: Tomohito Ando <[email protected]> * fix Copyright Co-authored-by: Yukihiro Saito <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * fix Copyright Signed-off-by: Tomohito Ando <[email protected]> * fix typo Signed-off-by: Tomohito Ando <[email protected]> * add documents for dynamic obstacle stop module Signed-off-by: Tomohito Ando <[email protected]> * ci(pre-commit): autofix Signed-off-by: Tomohito Ando <[email protected]> * update documents Signed-off-by: Tomohito Ando <[email protected]> * docs: begin a sentence with a capital letter Signed-off-by: Tomohito Ando <[email protected]> * docs: replace predicted with smoothed for path velocity Signed-off-by: Tomohito Ando <[email protected]> * create interface class to switch method Signed-off-by: Tomohito Ando <[email protected]> * run compare map filter only when points method is used Signed-off-by: Tomohito Ando <[email protected]> * delete unused functions Signed-off-by: Tomohito Ando <[email protected]> * rename functions for inserting velocity Signed-off-by: Tomohito Ando <[email protected]> * rename parameter of path_size to max_prediction_time Signed-off-by: Tomohito Ando <[email protected]> * fix(behavior_velocity_planner): dynamic obstacle stop planner docs Signed-off-by: Makoto Kurihara <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * fix(behavior_velocity_planner): add ego vehicle description Signed-off-by: Makoto Kurihara <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * fix(behavior_velocity_planner): change space to hyphen Signed-off-by: Makoto Kurihara <[email protected]> Signed-off-by: Tomohito Ando <[email protected]> * change smoothed to expected target velocity Signed-off-by: Tomohito Ando <[email protected]> * Start a sentence in figure with a capital letter Signed-off-by: Tomohito Ando <[email protected]> * fix typo Signed-off-by: Tomohito Ando <[email protected]> * use voxel distance based compare map Signed-off-by: Tomohito Ando <[email protected]> * select detection method from param file Signed-off-by: Tomohito Ando <[email protected]> * do not launch as default for now Signed-off-by: Tomohito Ando <[email protected]> * rename dynamic_obstacle_stop to run_out Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary change Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary changes Signed-off-by: Tomohito Ando <[email protected]> * remove unnecessary changes Signed-off-by: Tomohito Ando <[email protected]> * fix typo Signed-off-by: Tomohito Ando <[email protected]> * change default to false Signed-off-by: Tomohito Ando <[email protected]> * update cmake to build run_out module Signed-off-by: Tomohito Ando <[email protected]> * add launch_run_out parameter Signed-off-by: Tomohito Ando <[email protected]> * Add note for compare map filtered points Signed-off-by: Tomohito Ando <[email protected]> * handle the change for virtual wall marker Signed-off-by: Tomohito Ando <[email protected]> * rename the parameters for smoother Signed-off-by: Tomohito Ando <[email protected]> * fix build error in humble Signed-off-by: Tomohito Ando <[email protected]> * fix build error in humble Signed-off-by: Tomohito Ando <[email protected]> * launch compare map only when run out module is enabled Signed-off-by: Tomohito Ando <[email protected]> * update a document Signed-off-by: Tomohito Ando <[email protected]> * add calculation time for modify path Signed-off-by: Tomohito Ando <[email protected]> * update a document Signed-off-by: Tomohito Ando <[email protected]> Co-authored-by: Satoshi OTA <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Tomoya Kimura <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Yukihiro Saito <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Makoto Kurihara <[email protected]>
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