feat: v0.3.19 rebase

planning/behavior_velocity_planner/src/scene_module/virtual_traffic_light/manager.cpp

@@ -12,6 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include "tier4_autoware_utils/geometry/boost_geometry.hpp"
+
+#include <lanelet2_extension/utility/utilities.hpp>
 #include <scene_module/virtual_traffic_light/manager.hpp>
 #include <tier4_autoware_utils/math/unit_conversion.hpp>
 
@@ -81,11 +84,28 @@ VirtualTrafficLightModuleManager::VirtualTrafficLightModuleManager(rclcpp::Node
 void VirtualTrafficLightModuleManager::launchNewModules(
   const autoware_auto_planning_msgs::msg::PathWithLaneId & path)
 {
+  tier4_autoware_utils::LineString2d ego_path_linestring;
+  for (const auto & path_point : path.points) {
+    ego_path_linestring.push_back(
+      tier4_autoware_utils::fromMsg(path_point.point.pose.position).to_2d());
+  }
+
   for (const auto & m : getRegElemMapOnPath<VirtualTrafficLight>(
          path, planner_data_->route_handler_->getLaneletMapPtr())) {
+    const auto stop_line_opt = m.first->getStopLine();
+    if (!stop_line_opt) {
+      RCLCPP_FATAL(
+        logger_, "No stop line at virtual_traffic_light_reg_elem_id = %ld, please fix the map!",
+        m.first->id());
+      continue;
+    }
+
     // Use lanelet_id to unregister module when the route is changed
     const auto module_id = m.second.id();
-    if (!isModuleRegistered(module_id)) {
+    if (
+      !isModuleRegistered(module_id) &&
+      boost::geometry::intersects(
+        ego_path_linestring, lanelet::utils::to2D(stop_line_opt.value()).basicLineString())) {
       registerModule(std::make_shared<VirtualTrafficLightModule>(
         module_id, *m.first, m.second, planner_param_,
         logger_.get_child("virtual_traffic_light_module"), clock_));

planning/obstacle_avoidance_planner/src/utils.cpp

@@ -343,26 +343,29 @@ std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolate2DTraj
   const auto monotonic_base_yaw = convertEulerAngleToMonotonic(base_yaw);
 
   // spline interpolation
-  const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);
-  const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);
-  const auto interpolated_yaw = interpolation::slerp(base_s, monotonic_base_yaw, new_s);
-
-  for (size_t i = 0; i < interpolated_x.size(); i++) {
-    if (std::isnan(interpolated_x[i]) || std::isnan(interpolated_y[i])) {
-      return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};
+  std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;
+  try {
+    const auto interpolated_x = interpolation::slerp(base_s, base_x, new_s);
+    const auto interpolated_y = interpolation::slerp(base_s, base_y, new_s);
+    const auto interpolated_yaw = interpolation::slerp(base_s, monotonic_base_yaw, new_s);
+
+    for (size_t i = 0; i < interpolated_x.size(); i++) {
+      if (std::isnan(interpolated_x[i]) || std::isnan(interpolated_y[i])) {
+        return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};
+      }
     }
-  }
 
-  std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint> interpolated_points;
-  for (size_t i = 0; i < interpolated_x.size(); i++) {
-    autoware_auto_planning_msgs::msg::TrajectoryPoint point;
-    point.pose.position.x = interpolated_x[i];
-    point.pose.position.y = interpolated_y[i];
-    point.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(
-      tier4_autoware_utils::normalizeRadian(interpolated_yaw[i]));
-    interpolated_points.push_back(point);
+    for (size_t i = 0; i < interpolated_x.size(); i++) {
+      autoware_auto_planning_msgs::msg::TrajectoryPoint point;
+      point.pose.position.x = interpolated_x[i];
+      point.pose.position.y = interpolated_y[i];
+      point.pose.orientation = tier4_autoware_utils::createQuaternionFromYaw(
+        tier4_autoware_utils::normalizeRadian(interpolated_yaw[i]));
+      interpolated_points.push_back(point);
+    }
+  } catch (const std::invalid_argument & e) {
+    return std::vector<autoware_auto_planning_msgs::msg::TrajectoryPoint>{};
   }
-
   return interpolated_points;
 }