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fix(obstacle_avoidance_planner): fix drivable area checker (#2639) #243

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merged 1 commit into from
Jan 13, 2023
Merged

fix(obstacle_avoidance_planner): fix drivable area checker (#2639) #243

merged 1 commit into from
Jan 13, 2023

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tkimura4
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@tkimura4 tkimura4 commented Jan 13, 2023 •
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Description

autowarefoundation#2639
Hotfix to beta/v0.7.0

Currently, the obstacle avoidance planner checks if the footprint of the vehicle is outside of the drivable area by lateral distance from the left and right boundary. However, this method does not work well when the boundary is not straight. In this PR, I use the polygon instead of the line to check if the footprint is outside of the drivable area.
For example, in the following scene, the trajectory point will be judged outside of the drivable area even though it is inside of it. This is because it uses the line created by point0 and point1, so the trajectory point is judged to be located right side of the line.

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@purewater0901 @tkimura4
fix(obstacle_avoidance_planner): fix drivable area checker (autowaref…
ea59c45 
…oundation#2639)

* fix(obstacle_avoidance_planner): fix drivable area checker

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

* fix format

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

Signed-off-by: yutaka <[email protected]>
@tkimura4 tkimura4 requested review from purewater0901, shmpwk and 1222-takeshi and removed request for takayuki5168 and kosuke55 January 13, 2023 02:31
1222-takeshi
1222-takeshi approved these changes Jan 13, 2023
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LGTM

@tkimura4 tkimura4 enabled auto-merge (squash) January 13, 2023 02:34
@tkimura4 tkimura4 merged commit dd5275c into beta/v0.7.0 Jan 13, 2023
@tkimura4 tkimura4 deleted the fix/drivable-area-checker-0.7.0 branch January 13, 2023 02:35
maxime-clem pushed a commit to maxime-clem/autoware.universe that referenced this pull request Feb 7, 2024
@brkay54 @pre-commit-ci
feat: add plotjuggler into docker image (tier4#243)
8af8fbc 
* add plotjuggler into docker image

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

* ci(pre-commit): autofix

* updated ansible playbooks and readme files

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

* update universe.yaml

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

Co-authored-by: Berkay <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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@1222-takeshi 1222-takeshi 1222-takeshi approved these changes

@purewater0901 purewater0901 Awaiting requested review from purewater0901

@shmpwk shmpwk Awaiting requested review from shmpwk

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@tkimura4 @1222-takeshi @purewater0901