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unit test of trajectory follower sometimes fails ramdomly #432

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taikitanaka3 opened this issue Feb 22, 2022 · 1 comment
Closed

unit test of trajectory follower sometimes fails ramdomly #432

taikitanaka3 opened this issue Feb 22, 2022 · 1 comment
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type:bug Software flaws or errors.

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@taikitanaka3
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taikitanaka3 commented Feb 22, 2022 •
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https://github.com/autowarefoundation/autoware.universe/runs/5283234004?check_suite_focus=true
https://github.com/autowarefoundation/autoware.universe/runs/5284825263?check_suite_focus=true
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@taikitanaka3 taikitanaka3 changed the title unit test of trajectory follower sometimes fails unit test of trajectory follower sometimes fails ramdomly Feb 22, 2022
mitsudome-r added a commit to mitsudome-r/autoware.universe that referenced this issue Mar 1, 2022
@tkimura4 @mitsudome-r
@scepter914 @k0suke-murakami @nnmm @sgermanserrano @esteve @kenji-miyake @isamu-takagi @kmiya @TakaHoribe @vios-fish @adamdbrw @wep21 @KeisukeShima @0x126 @rej55 @yukkysaito @h-ohta @takayuki5168 @mkuri @satoshi-ota @taikitanaka3 @maxime-clem @niosus @kokosabu @pre-commit-ci
feat: add obstacle_avoidance_planner packages (autowarefoundation#89)
788fcf5 
* release v0.4.0

* add dynamic_reconfigure to obstacle avoidance planner (autowarefoundation#673)

* fix apply dynamic param (autowarefoundation#704)

* add warning logging to foa.data.is_is_avoidance_possible (autowarefoundation#725)

* Feature/improve obstacle avoidance (autowarefoundation#731)

* add license terms (autowarefoundation#941)

* remove ROS1 packages temporarily

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

* Revert "remove ROS1 packages temporarily"

This reverts commit 10813fa0e7b67c9ad6c7d4df6aeee0931c866b41.

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

* add COLCON_IGNORE to ros1 packages

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

* Rename launch files to launch.xml (autowarefoundation#28)

* Port of obstacle avoidance planner to ROS2 (autowarefoundation#83)

* Port to ROS2

Signed-off-by: Servando German Serrano <[email protected]>

* Removed ros/console include

Signed-off-by: Servando German Serrano <[email protected]>

* Added THROTTLE

Signed-off-by: Servando German Serrano <[email protected]>

* Changed numbers to floats

Signed-off-by: Servando German Serrano <[email protected]>

* Removed <double> from params

Signed-off-by: Servando German Serrano <[email protected]>

* Added new msg

Signed-off-by: Servando German Serrano <[email protected]>

* Use new msg

Signed-off-by: Servando German Serrano <[email protected]>

* Replaced dynamic reconfigure

Signed-off-by: Servando German Serrano <[email protected]>

* Added EnableAvoidance.msg

Signed-off-by: Servando German Serrano <[email protected]>

* Fixed parameter mismatch

Signed-off-by: Servando German Serrano <[email protected]>

* Fix launch files (autowarefoundation#122)

* [surround_obstacle_checker] add parameter and arguments to launch file

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

* [obstacle_stop_planner] modify launch file to remap trajectory from argument

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

* [obstacle_avoidance_planner] modify launch file to remap topics from arguments

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

* [motion_velocity_optimizer] modify launch file to enable remapping from argument

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

* Convert calls of Duration to Duration::from_seconds where appropriate (autowarefoundation#131)

* 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

* [lane_change_planner] [obstacle_avoidance_planner] fix clock type (autowarefoundation#183)

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

* Add linters to obstacle_avoidance_planner (autowarefoundation#158)

* Added linters to obstacle_avoidance_planner

* Fix header issues

* Fix linting issues

* Fix more linting issues

* Fix even more linting issues

* Final linting fixes

* Fix dependencies

* Use ament_cmake_cppcheck and ament_cmake_cpplint

* [obstacle_avoidance_planner] add missing return values (autowarefoundation#214)

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

* Obstacle avoidance planner 0.8 (autowarefoundation#308)

* fix rosparam typo

Signed-off-by: Kosuke Murakami <[email protected]>

* empty check before access

Signed-off-by: Kosuke Murakami <[email protected]>

* modify way to fix the points

Signed-off-by: Kosuke Murakami <[email protected]>

* apply format

Signed-off-by: Kosuke Murakami <[email protected]>

* add baselink2front dist for virutual_wall

Signed-off-by: Kosuke Murakami <[email protected]>

* add avoiding object type

Signed-off-by: Kosuke Murakami <[email protected]>

* add exception handling for avoiding object

Signed-off-by: Kosuke Murakami <[email protected]>

* apply format

Signed-off-by: Kosuke Murakami <[email protected]>

* add vehicle_info dependency

Signed-off-by: Kosuke Murakami <[email protected]>

* modify to pass lint

Signed-off-by: Kosuke Murakami <[email protected]>

* fix lint

Signed-off-by: Kosuke Murakami <[email protected]>

* add vehicle_info_param in launch

Signed-off-by: Kosuke Murakami <[email protected]>

* modify nested pram declaration

Signed-off-by: Kosuke Murakami <[email protected]>

* apply ament-uncrastify

Signed-off-by: Kosuke Murakami <[email protected]>

* fix boost_none handling (autowarefoundation#349)

* fix boost_none handling

Signed-off-by: Kosuke Murakami <[email protected]>

* add another one

Signed-off-by: Kosuke Murakami <[email protected]>

* add another one

Signed-off-by: Kosuke Murakami <[email protected]>

* add another one

Signed-off-by: Kosuke Murakami <[email protected]>

* Rename ROS-related .yaml to .param.yaml (autowarefoundation#352)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <[email protected]>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <[email protected]>

* rename vehicle_info_param to vehicle_param_file (autowarefoundation#353)

Signed-off-by: Kosuke Murakami <[email protected]>

* Ros2 fix topic name part1 (autowarefoundation#408)

* Fix topic name of lane_departure_checker debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_departure_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_stop_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of freespace_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of surround_obstacle_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of emergency_handler

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint errors

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo in planning module (autowarefoundation#432)

* Fix typo in planning module

* Fix remaining errors

Signed-off-by: Kenji Miyake <[email protected]>

* Apply cpplint and uncrustify.

Co-authored-by: Kenji Miyake <[email protected]>

* fix duration (autowarefoundation#445)

* fix duration

Signed-off-by: Kosuke Murakami <[email protected]>

* change to from_seconds

Signed-off-by: Kosuke Murakami <[email protected]>

* fix other duration

Signed-off-by: Kosuke Murakami <[email protected]>

* replace -1 with 0

Signed-off-by: Kosuke Murakami <[email protected]>

* apply ament_lint_common

Signed-off-by: Kosuke Murakami <[email protected]>

* uncrustify

Signed-off-by: Kosuke Murakami <[email protected]>

* add space

Signed-off-by: Kosuke Murakami <[email protected]>

* add another space

Signed-off-by: Kosuke Murakami <[email protected]>

* update log (autowarefoundation#456)

Signed-off-by: Kosuke Murakami <[email protected]>

* fix bug (autowarefoundation#457)

* add use_sim-time option (autowarefoundation#454)

* Format launch files (autowarefoundation#1219)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix rolling build errors (autowarefoundation#1225)

* Add missing include files

Signed-off-by: Kenji Miyake <[email protected]>

* Replace rclcpp::Duration

Signed-off-by: Kenji Miyake <[email protected]>

* Use reference for exceptions

Signed-off-by: Kenji Miyake <[email protected]>

* Use from_seconds

Signed-off-by: Kenji Miyake <[email protected]>

* Sync public repo (autowarefoundation#1228)

* [simple_planning_simulator] add readme (autowarefoundation#424)

* add readme of simple_planning_simulator

Signed-off-by: Takamasa Horibe <[email protected]>

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (autowarefoundation#460)

* Fix pose2twist (autowarefoundation#462)

Signed-off-by: Takagi, Isamu <[email protected]>

* Ros2 vehicle info param server (autowarefoundation#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (autowarefoundation#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix issues in hdd_reader (autowarefoundation#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (autowarefoundation#463)

* Rviz overlay render fix (autowarefoundation#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <[email protected]>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <[email protected]>

* uncrustified

Signed-off-by: Adam Dabrowski <[email protected]>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <[email protected]>

* back to RTD as superclass

Signed-off-by: Adam Dabrowski <[email protected]>

* Rviz overlay render in update (autowarefoundation#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <[email protected]>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <[email protected]>

* uncrustified

Signed-off-by: Adam Dabrowski <[email protected]>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <[email protected]>

* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <[email protected]>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

Signed-off-by: Adam Dabrowski <[email protected]>

* restored RTD superclass

Signed-off-by: Adam Dabrowski <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Makoto Tokunaga <[email protected]>
Co-authored-by: Adam Dąbrowski <[email protected]>

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

* Make planning modules components (autowarefoundation#1263)

Signed-off-by: wep21 <[email protected]>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <[email protected]>

* Porting small fix (autowarefoundation#1288)

* Delete unused code (autowarefoundation#1183)

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

Signed-off-by: Kenji Miyake <[email protected]>

* Add comments for livox tag (autowarefoundation#1188)

Signed-off-by: Kenji Miyake <[email protected]>

* Clear return value (autowarefoundation#1193)

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

* treat polygon points as relative (autowarefoundation#1205)

Signed-off-by: Kosuke Murakami <[email protected]>

* 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

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: shin <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* Refactor vehicle info util (autowarefoundation#1305)

* Update license

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor vehicle_info_util

Signed-off-by: Kenji Miyake <[email protected]>

* Rename and split files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix interfaces

Signed-off-by: Kenji Miyake <[email protected]>

* Fix bug and add error handling

Signed-off-by: Kenji Miyake <[email protected]>

* Add "// namespace"

Signed-off-by: Kenji Miyake <[email protected]>

* Add missing include

Signed-off-by: Kenji Miyake <[email protected]>

* Fix lint errors (autowarefoundation#1378)

* Fix lint errors

Signed-off-by: Kenji Miyake <[email protected]>

* Fix variable names

Signed-off-by: Kenji Miyake <[email protected]>

* Disable debug output of obstacle_avoidance_planner by default (autowarefoundation#1391)

* Disable debug output of obstacle_avoidance_planner by default

Signed-off-by: Kenji Miyake <[email protected]>

* Fix typo

Signed-off-by: Kenji Miyake <[email protected]>

* suppress warnings for obstacle avoidance planner (autowarefoundation#1764)

* add Werror

* fix Duration

* fix debug.cpp

* fix node.cpp

* fix util.cpp

* fix for loop for mpt_optimizer.cpp

* fix unused for mpt_optimizer.cpp

* fix process_cv.cpp

* fix sign compare for eb_path_optimizer.cpp

* fix unused for eb_path_optimizer.cpp

* fix for cpplint

* fix for cpplint

* re fix debug.cpp

* fix typo

* fix typo

* re fix process_cv.cpp

* fix typo

* re fix util.cpp

* re re fix util.cpp

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Hiroki OTA <[email protected]>

* Fix compiler warnings (autowarefoundation#1837)

* Fix -Wunused-private-field

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-variable

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wformat-security

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Winvalid-constexpr

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wdelete-non-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wdelete-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Winconsistent-missing-override

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wrange-loop-construct

Signed-off-by: Kenji Miyake <[email protected]>

* Fix "invalid application of 'sizeof' to an incomplete type"

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore -Wgnu-anonymous-struct and -Wnested-anon-types

Signed-off-by: Kenji Miyake <[email protected]>

* Fix lint

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore -Wno-deprecated-declarations in CUDA-related packages

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Fix spellcheck fail for some packages (autowarefoundation#1842)

* fix transed -> transformed

* fix Urefex to Uref_ex

* fix spell

* Yrefex -> Yref_ex

* add space

* fix for spellcheck

* fix for lint

* fix feedbacked to feedback

* delete Yref_ex

* [obstacle avoidance planner] move doc from develop (autowarefoundation#1898)

* move doc from develop

* add figures

* update docs

* fix

* update doc

* use /approx

* use \sin \cos \tan

* use \arctan

* use \cos

* add sort-package-xml hook in pre-commit (autowarefoundation#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* remove spline_interpolation, and create interpolation package that ha… (autowarefoundation#2114)

* remove spline_interpolation and add interpolation package

* fix bugs and add simple test

* modify application for interpolation package

* add some tests and fix ci test

* add some tests

* add -Werror

* move functions to anonymous

* fix reviews

* fix typo

* fix review and lint

* add tests

* resolve TODOs

* add README.md

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* fix README.md

* dealt with reviews

* update README.md

* update README.md

* Update common/math/interpolation/README.md

* fix some bugs

* fix typo

* update README.md

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix test

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix cdots

* fix README.md

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>

* update doc (autowarefoundation#2164)

* update doc

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner-design.ja.md

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner-design.ja.md

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner-design.ja.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner-design.ja.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix \min, \max

* Update planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner-design.ja.md

Co-authored-by: Kazuki Miyahara <[email protected]>

Co-authored-by: Kazuki Miyahara <[email protected]>

* update readme for how to debug (autowarefoundation#2253)

Signed-off-by: Takamasa Horibe <[email protected]>

* add explanation of drivable area in obstacle avoidance planner (autowarefoundation#2291)

* add explanation of drivable area in obstacle avoidance planner

* fix spell

* add explanations

* Sync develop/fix interpolation and speed up calculation (autowarefoundation#2290)

* debug slope calculation in behavior (autowarefoundation#1566) (autowarefoundation#1727)

* debug slope calculation in behavior (autowarefoundation#1566)

* update

* update

* revert change of autoware_utils

* define getPose in behavior_path_planner

* update

* update

* update

* update

* interpolate z in obstacle_avoidance_planner

* update velocity controller

* fix detection area and scene

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp

Co-authored-by: tkimura4 <[email protected]>

* update comment in velocity controller

* remove debug print

* update

Co-authored-by: tkimura4 <[email protected]>
Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix variable names

Signed-off-by: Kenji Miyake <[email protected]>

* Fix uncrustify

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* add underscore to marker namespace (autowarefoundation#1785)

Co-authored-by: satoshi-ota <[email protected]>

* [obstacle_avoidance_planner] remove useless get nearest idx (autowarefoundation#1851)

* modify velocity insertion in obstacle_avoidance_planner

Signed-off-by: Takamasa Horibe <[email protected]>

* [obstacle_avoidance_planner] reduce calculation cost in relative/absolute transformation (autowarefoundation#1844)

* implement relative/absolute transformation without yaw but directly sin/cos of yaw

* rename: relative_p to absolute_p

* assigin point.z to rel/abs_z

* fix cpp-lint error

Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>

* Feature/obstacle avoidance planner some improvements (autowarefoundation#1964)

* add some improvements

* fix typo

* Revert "Feature/obstacle avoidance planner some improvements (autowarefoundation#1964)" (autowarefoundation#2000)

This reverts commit 07795e57bf03cb2fbb95a8f82253d8757b4686e9.

* Change formatter to clang-format and black (autowarefoundation#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <[email protected]>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <[email protected]>

* Apply Black

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <[email protected]>

* port obstacle avoidance planner (autowarefoundation#484)

* use_auto_msgs

* use predicted object

* use autoware_auto_perception_msgs

* complile succeeded

* use odom

* assign header to twist staped as well

* rename to readme.md

Co-authored-by: Takayuki Murooka <[email protected]>

* [apply_predicted_obj_type] adapt to autoware auto msgs (autowarefoundation#564)

* fix obj shape

* fix obj shape

* fix goal pose

* update README.md in obstacle avoidance planner (autowarefoundation#555)

* update README.md

* fix typo

* update README.md

* fix typo

* minor change

Co-authored-by: Takayuki Murooka <[email protected]>

* update iv_msgs -> auto_msgs in planning readme (autowarefoundation#576)

* update iv_msgs -> auto_msgs in planning readme

* minor change

* some fix

* some fix

Co-authored-by: Takayuki Murooka <[email protected]>

* Back port .auto control packages (autowarefoundation#571)

* Implement Lateral and Longitudinal Control Muxer

* [autowarefoundation#570] Porting wf_simulator

* [autowarefoundation#1189] Deactivate flaky test in 'trajectory_follower_nodes'

* [autowarefoundation#1189] Fix flacky test in 'trajectory_follower_nodes/latlon_muxer'

* [autowarefoundation#1057] Add osqp_interface package

* [autowarefoundation#1057] Add library code for MPC-based lateral control

* [autowarefoundation#1271] Use std::abs instead of abs

* [autowarefoundation#1057] Implement Lateral Controller for Cargo ODD

* [autowarefoundation#1246] Resolve "Test case names currently use snake_case but should be CamelCase"

* [autowarefoundation#1325] Deactivate flaky smoke test in 'trajectory_follower_nodes'

* [autowarefoundation#1058] Add library code of longitudinal controller

* Fix build error for trajectory follower

Signed-off-by: wep21 <[email protected]>

* Fix build error for trajectory follower nodes

Signed-off-by: wep21 <[email protected]>

* [autowarefoundation#1272] Add AckermannControlCommand support to simple_planning_simulator

* [autowarefoundation#1058] Add Longitudinal Controller node

* [autowarefoundation#1058] Rename velocity_controller -> longitudinal_controller

* [autowarefoundation#1058] Update CMakeLists.txt for the longitudinal_controller_node

* [autowarefoundation#1058] Add smoke test python launch file

* [autowarefoundation#1058] Use LowPassFilter1d from trajectory_follower

* [autowarefoundation#1058] Use autoware_auto_msgs

* [autowarefoundation#1058] Changes for .auto (debug msg tmp fix, common func, tf listener)

* [autowarefoundation#1058] Remove unused parameters

* [autowarefoundation#1058] Fix ros test

* [autowarefoundation#1058] Rm default params from declare_parameters + use autoware types

* [autowarefoundation#1058] Use default param file to setup NodeOptions in the ros test

* [autowarefoundation#1058] Fix docstring

* [autowarefoundation#1058] Replace receiving a Twist with a VehicleKinematicState

* [autowarefoundation#1058] Change class variables format to m_ prefix

* [autowarefoundation#1058] Fix plugin name of LongitudinalController in CMakeLists.txt

* [autowarefoundation#1058] Fix copyright dates

* [autowarefoundation#1058] Reorder includes

* [autowarefoundation#1058] Add some tests (~89% coverage without disabling flaky tests)

* [autowarefoundation#1058] Add more tests (90+% coverage without disabling flaky tests)

* [autowarefoundation#1058] Use Float32MultiArrayDiagnostic message for debug and slope

* [autowarefoundation#1058] Calculate wheel_base value from vehicle parameters

* [autowarefoundation#1058] Cleanup redundant logger setting in tests

* [autowarefoundation#1058] Set ROS_DOMAIN_ID when running tests to prevent CI failures

* [autowarefoundation#1058] Remove TF listener and use published vehicle state instead

* [autowarefoundation#1058] Change smoke tests to use autoware_testing

* [autowarefoundation#1058] Add plotjuggler cfg for both lateral and longitudinal control

* [autowarefoundation#1058] Improve design documents

* [autowarefoundation#1058] Disable flaky test

* [autowarefoundation#1058] Properly transform vehicle state in longitudinal node

* [autowarefoundation#1058] Fix TF buffer of lateral controller

* [autowarefoundation#1058] Tuning of lateral controller for LGSVL

* [autowarefoundation#1058] Fix formating

* [autowarefoundation#1058] Fix /tf_static sub to be transient_local

* [autowarefoundation#1058] Fix yaw recalculation of reverse trajs in the lateral controller

* modify trajectory_follower for galactic build

Signed-off-by: Takamasa Horibe <[email protected]>

* [autowarefoundation#1379] Update trajectory_follower

* [autowarefoundation#1379] Update simple_planning_simulator

* [autowarefoundation#1379] Update trajectory_follower_nodes

* apply trajectory msg modification in control

Signed-off-by: Takamasa Horibe <[email protected]>

* move directory

Signed-off-by: Takamasa Horibe <[email protected]>

* remote control/trajectory_follower level dorectpry

Signed-off-by: Takamasa Horibe <[email protected]>

* remove .iv trajectory follower

Signed-off-by: Takamasa Horibe <[email protected]>

* use .auto trajectory_follower

Signed-off-by: Takamasa Horibe <[email protected]>

* remove .iv simple_planning_simulator & osqp_interface

Signed-off-by: Takamasa Horibe <[email protected]>

* use .iv simple_planning_simulator & osqp_interface

Signed-off-by: Takamasa Horibe <[email protected]>

* add tmp_autoware_auto_dependencies

Signed-off-by: Takamasa Horibe <[email protected]>

* tmporally add autoware_auto_msgs

Signed-off-by: Takamasa Horibe <[email protected]>

* apply .auto message split

Signed-off-by: Takamasa Horibe <[email protected]>

* fix build depend

Signed-off-by: Takamasa Horibe <[email protected]>

* fix packages using osqp

* fix autoware_auto_geometry

* ignore lint of some packages

* ignore ament_lint of some packages

* ignore lint/pre-commit of trajectory_follower_nodes

* disable unit tests of some packages

Co-authored-by: Maxime CLEMENT <[email protected]>
Co-authored-by: Joshua Whitley <[email protected]>
Co-authored-by: Igor Bogoslavskyi <[email protected]>
Co-authored-by: MIURA Yasuyuki <[email protected]>
Co-authored-by: wep21 <[email protected]>
Co-authored-by: tomoya.kimura <[email protected]>

* [planning module]fix bug (autowarefoundation#643)

* fix topic name

* remove angular z from LinearInterpolation in motion_velocity_smoother

* fix readme

* ci(pre-commit): autofix

Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: Taichi Higashide <[email protected]>
Co-authored-by: Satoshi Tanaka <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: Servando <[email protected]>
Co-authored-by: Esteve Fernandez <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Makoto Tokunaga <[email protected]>
Co-authored-by: Adam Dąbrowski <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: shin <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Makoto Kurihara <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: Maxime CLEMENT <[email protected]>
Co-authored-by: Joshua Whitley <[email protected]>
Co-authored-by: Igor Bogoslavskyi <[email protected]>
Co-authored-by: MIURA Yasuyuki <[email protected]>
Co-authored-by: wep21 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
mitsudome-r added a commit to mitsudome-r/autoware.universe that referenced this issue Mar 1, 2022
@tkimura4 @mitsudome-r
@kenji-miyake @TakaHoribe @rej55 @wep21 @yukkysaito @kmiya @nnmm @nik-tier4 @k0suke-murakami @isamu-takagi @taikitanaka3 @taichiH @vios-fish @adamdbrw @satoshi-ota @h-ohta @KeisukeShima @takayuki5168 @mkuri @maxime-clem @tier4-autoware-private-bot @1222-takeshi @IshitaTakeshi @purewater0901 @kyoichi-sugahara @s-murakami-esol @yukke42 @miursh @0x126 @aohsato @j4tfwm6z
feat: add behavior_velocity_planner package (autowarefoundation#27)
b9e7df0 
* release v0.4.0

* Fix typo (#700)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix detection area (#701)

* Replace calcDistance with calcSignedDistance

Signed-off-by: Kenji Miyake <[email protected]>

* Add STOP state

Signed-off-by: Kenji Miyake <[email protected]>

* intersection: change detection area length parameter from 100m to 200m (#702)

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: fix stuck vehicle behavior (#695)

Signed-off-by: Takamasa Horibe <[email protected]>

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

* Use spline_interpolation module

* Remove debug messages

* Feature/stop reason (#712)

* add stop reason msg

* add mock of stop resaon publisher

* change namespace of stop reason

* update stop reason msg

* add toRosPoint

* implement stop reason publisher of blind stop

* implement stop reason publisher of crosswalk

* implement stop reason publisher of intersection

* implement stop reason publisher of stop line

* implement stop reason publisher of trafficlight

* implement stop reason publisher of detection area

* fix bug

* remove unnecessary process

* add remained stop factor

* clean code

* fix bug

* not punlish stop reason if array size is 0

* add stop reason to stuck object in intersection

* add stop factor of obstacle stop planner

* add stop reason of surround_obstacle checker

* Apply review

Signed-off-by: Kenji Miyake <[email protected]>

* fix message type

* delete unused message from cmake

* remove stopReasonStamped

* change topic name of stop reasons

Co-authored-by: Kenji Miyake <[email protected]>

* Fix/stop reason (#724)

* input stop reason of traffic light

* add comment

* add empty traffic light handling

* change calculation method of traffic light position

* avoid 0 position output

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

* Remove duplicating sample points

* Change isValidInput

* Apply clang-format

* Fix convergence check in PCG

* fix clac signed distance bug (#733)

* intersection: ignore stop plane when path[0] is in detection area (#739)

Signed-off-by: Takamasa Horibe <[email protected]>

* Publish tl states stamped (#744)

* Add TrafficLightStateStamped.msg

Signed-off-by: wep21 <[email protected]>

* Use msg instead of struct

Signed-off-by: wep21 <[email protected]>

* Publish traffic light state

Signed-off-by: wep21 <[email protected]>

* Check if lamp state is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang-format

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* update visualization marker (#759)

* fix stack area (#758)

* dont check pointcloud (#765)

Signed-off-by: Yukihiro Saito <[email protected]>

* fix stop factor of merge_from_private_area (#749)

* Revert "Publish tl states stamped (#744)" (#771)

This reverts commit 35a7e29e987afb29d9348b5f64866a584a65f753.

* fix intersection bug (#773)

* fix bug

* fix bug

* change uid of marker (#775)

* Fix/publish tl state stamped (#772)

* Publish tl states stamped (#744)

* Add TrafficLightStateStamped.msg

Signed-off-by: wep21 <[email protected]>

* Use msg instead of struct

Signed-off-by: wep21 <[email protected]>

* Publish traffic light state

Signed-off-by: wep21 <[email protected]>

* Check if lamp state is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang-format

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Use dynamic pointer cast

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Fix blind spot areas and logic for creating a stop line (#732)

* Fix blind spot areas

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Change logic for creating a stop line

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Do not add marker when marker is empty

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Cosmetic change

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Return boost optional for first conflict point

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Return boost optional for intersection start point

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Apply clang

Signed-off-by: Daisuke Nishimatsu <[email protected]>

* Fix/intersection stuck detect area (#764)

* fix stuck-vehicle detection area in intersection module

* separate vehicle param

* change the way ouf start idx count

* change param

* avoid to input -1 index (#777)

* add dead line and pass through when over dead line (#784)

* Add arg for input tl topic name (#783)

Signed-off-by: wep21 <[email protected]>

* change margin to 1.0m (#790)

Signed-off-by: Yukihiro Saito <[email protected]>

* fix insert target point bug (#798)

* fix typo stop_liine to stop_line (#799)

Signed-off-by: Takamasa Horibe <[email protected]>

* traffic light scene module : fix bug and change param (#800)

* fix bug (passs judge line)

Signed-off-by: Yukihiro Saito <[email protected]>

* bug fix

Signed-off-by: Yukihiro Saito <[email protected]>

* change param

Signed-off-by: Yukihiro Saito <[email protected]>

* Intersection add debug comment (#803)

* blind spot : modify debug comment

Signed-off-by: Takamasa Horibe <[email protected]>

* merge from private road : modify debug comment

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection : modify debug comment

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection util: modify generateStopLine() for debug

Signed-off-by: Takamasa Horibe <[email protected]>

* add comment

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix intersection preceeding lane query (#807)

* modified interseciton module to add lanelets in intersection to objective lanelets due to change in getPreceedingLaneletSequences()

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

* update comment

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

* Fix blind spot area (#806)

* Fix blind spot area

Signed-off-by: wep21 <[email protected]>

* Use range based for

Signed-off-by: wep21 <[email protected]>

* Use std::unique to remove adjacent duplicates

Signed-off-by: wep21 <[email protected]>

* Use generateFineCenterline

Signed-off-by: wep21 <[email protected]>

* Fix detection area start point

Signed-off-by: wep21 <[email protected]>

* Revert "Use generateFineCenterline"

This reverts commit 9d4f46bf65d7296b9286b30dfeed217a566a815c.

* Fix centerline of half lanelet

Signed-off-by: wep21 <[email protected]>

* Fix area start point

Signed-off-by: wep21 <[email protected]>

* Revert "fix insert target point bug (#798)" (#815)

This reverts commit 12eac2023538531e28a85a8914305cb534499f29.

* Fix/traffic light state (#801)

* fix bug (passs judge line)

Signed-off-by: Yukihiro Saito <[email protected]>

* bug fix

Signed-off-by: Yukihiro Saito <[email protected]>

* change param

Signed-off-by: Yukihiro Saito <[email protected]>

* bug fix : remove stop state

Signed-off-by: Yukihiro Saito <[email protected]>

* add lower limit

Signed-off-by: Yukihiro Saito <[email protected]>

* change param (#821)

Signed-off-by: Yukihiro Saito <[email protected]>

* stopline: parametrize check distance (#825)

Signed-off-by: Takamasa Horibe <[email protected]>

* Check if lanelets are sequential (#823)

Signed-off-by: wep21 <[email protected]>

* fix uninitialized variables (#816)

* Parameterization for calculating judge line distance (#831)

Signed-off-by: wep21 <[email protected]>

* remove ROS1 packages temporarily

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

* Revert "remove ROS1 packages temporarily"

This reverts commit 96b63e981899f79f2f5c6a6377e9600cc278e233.

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

* add COLCON_IGNORE to ros1 packages

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

* Rename launch files to launch.xml (#28)

* Port behavior_velocity_planner to ROS2 (#80)

* Revert "Add geometry2 to repos (#76)"

This reverts commit 6d2270476aaafdf1a8098d700d52a508525ea04b.

* Automatic parts of the package port

* Interesting part

* Fix typo in package.xml

* Review comments

* Child logger names

* Document logging duration

Co-authored-by: Ryohsuke Mitsudome <[email protected]>

* [ROS2] Fix behavior velocity planner (#110)

* install launch and config folders

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

* port launch file

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

* fix config files

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

* improve vehicle_info_utils to enable multiple declaration of VehicleInfo objects

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

* fix sementation fault

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

* Convert calls of Duration to Duration::from_seconds where appropriate (#131)

* Rename h files to hpp (#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

* Adjust copyright notice on 532 out of 699 source files (#143)

* Use quotes for includes where appropriate (#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

* Run uncrustify on the entire Pilot.Auto codebase (#151)

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

* fixing trasient_local in ROS2 packages (#160)

* Enable cppcheck lints in behavior_velocity_planner (#159)

* Enable lints in behavior_velocity_planner

* Fix package.xml

* Make launch files load vehicle model params dependent on argument (#228)

* Make vehicle_model configurable in behavior_velocity_planner

* Make vehicle_model configurable in vehicle_cmd_gate

* change from vehicle_model to vehicle_param_file (#242)

Signed-off-by: kosuke murakami <[email protected]>

* Ros2 v0.8 fix typo of "preceding" (#323)

* Fix typo of getPrecedingLaneletSequences

* Fix comment

* Ros2 v0.8.0 behavior velocity planner (#332)

* restore behavior velocity planner files for v0.8.0 update

* Fix detection area (#808)

* Remove PASS state

Signed-off-by: Kenji Miyake <[email protected]>

* Keep stopping after going over dead-line in STOP state

Signed-off-by: Kenji Miyake <[email protected]>

* Clear state after obstacle disappears

Signed-off-by: Kenji Miyake <[email protected]>

* Parameterize and change conditions

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor

Signed-off-by: Kenji Miyake <[email protected]>

* add elapsed time checker

* Refactor

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore inserting point if points are too close

Signed-off-by: Kenji Miyake <[email protected]>

* Rename NORMAL to GO

Signed-off-by: Kenji Miyake <[email protected]>

* Revert "Ignore inserting point if points are too close"

This reverts commit 91c8d620ea11e703611945cb9a50877d175f4ff6.

* Fix small bug

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: taichiH <[email protected]>

* fix timing of publish stop reason of stop_line (#845)

* fix timing of publish stop reason of stop_line

* Fix formatting

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Fix task registration of detection area module (#856)

* Fix task registration of detection area module

Signed-off-by: Kenji Miyake <[email protected]>

* Fix id of factor_text marker

Signed-off-by: Kenji Miyake <[email protected]>

* Do not interpolate if path size is 1 (#865)

* Revert "restore behavior velocity planner files for v0.8.0 update"

This reverts commit ce07d3c2bfae562d56fec46c4f81d5351fd936a1.

* fix some implement miss

* restore behavior velocity planner files for v0.8.0 update

* change intersection param (#861)

* Fix/intersection stop line (#841)

* add trimmed path function

* fix typo

* avoid to insert stop line outside intersection

* Add pass judge flag (#872)

* Add pass judge flag

Signed-off-by: wep21 <[email protected]>

* Fix wrong format

Signed-off-by: wep21 <[email protected]>

* Fix flag order in judge condition

Signed-off-by: wep21 <[email protected]>

* add ignore width with blind spot (#864)

* add ignore width with blind spot

* remove unused function

* fix typo

* fix margin

* remove bicycle from intersection stuck vehicle (#896)

* Revert "restore behavior velocity planner files for v0.8.0 update"

This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9.

* fix implement miss

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Add external traffic light input (#912)

* Add external traffic light input

Signed-off-by: wep21 <[email protected]>

* Update topic namespace

* Fix typos in planning modules (#866)

* fix typos in planning

* fix corresponding typos in planning

* revert fixed typos temporarily due to its impact on launchers

* add exception handling to intersection module (#920)

* add exception handling

* output input path

* prevent passthrough chattering (#901)

Signed-off-by: Yukihiro Saito <[email protected]>

* cosnider current_velocity to calculate intersection passing time (#880)

* cosnider current_velocity to calculate intersection passing time

* add fabs to current velocity

* Improve stuck vehicle detect (#824)

* intersection: modify stuck vehicle detect logic to consider the object shape

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: consider ego-vehicle length when calculate stuck vehicle detection area

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: change param stuck_vehicle_ignore_dist: 5.0 -> 7.0

Signed-off-by: Takamasa Horibe <[email protected]>

* intersection: use vehicle_info/vehicle_length

Signed-off-by: Takamasa Horibe <[email protected]>

* fix implement miss

* fix target pedestrian (#927)

Signed-off-by: Yukihiro Saito <[email protected]>

* fix insert backward point (#953)

* fix insert backward point

* add comment

Signed-off-by: Kosuke Murakami <[email protected]>

* remove unnecessary if

Signed-off-by: Kosuke Murakami <[email protected]>

* Add stop line referred from road marking (#968)

* Add stop line referred from road marking

Signed-off-by: wep21 <[email protected]>

* Add stop line for walkway

Signed-off-by: wep21 <[email protected]>

* Feature/external input (#982)

* add external input msg

* impl external input(crosswalk, intersection)

* :put_litter_in_its_place:

* change to ++14

* fix bug

* fix bug

* cosmetic change

* Revert "restore behavior velocity planner files for v0.8.0 update"

This reverts commit ff61ee56f2ce4728e53eb698836db60d68bf64b9.

* Fix typo (#1013)

Signed-off-by: Kenji Miyake <[email protected]>

* Fix/blind spot insert point (#1027)

* Copy insert point from previous point

* Reset path unless state is stop

Signed-off-by: wep21 <[email protected]>

* change slow down speed (#1030)

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Fix/walkway stop judge range (#1028)

* Fix walkway stop judge

Signed-off-by: wep21 <[email protected]>

* Make refer id same

Signed-off-by: wep21 <[email protected]>

* fix getObjectivePolygons() so that intersecting lanelet is added to objective lanelets even when there is no preceeding lanelets (#1010)

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

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fix implement miss for marker

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Fix/blind spot polygon (#1056)

* Fix detection area for blind spot

Signed-off-by: wep21 <[email protected]>

* Apply clang format

Signed-off-by: wep21 <[email protected]>

* Shrink conflicting area

Signed-off-by: wep21 <[email protected]>

* chane slowdown judgement (#1066)

* chane slowdown judgement

* cosmetic change

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fixed for ros2 style

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Remove unused headers in behavior_velocity_planner (#1072)

* publish walkway stop reason (#1073)

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Add correspondence marker of detection_area and stop_line (#1081)

* Fix comment

Signed-off-by: Kenji Miyake <[email protected]>

* Add const

Signed-off-by: Kenji Miyake <[email protected]>

* Add correspondence marker of detection_area and stop_line

Signed-off-by: Kenji Miyake <[email protected]>

* Add obstacle marker

Signed-off-by: Kenji Miyake <[email protected]>

* Fixup

Signed-off-by: Kenji Miyake <[email protected]>

* Add id marker

Signed-off-by: Kenji Miyake <[email protected]>

* Clear state when time rollback found

Signed-off-by: Kenji Miyake <[email protected]>

* Fix typo

Signed-off-by: Kenji Miyake <[email protected]>

* change stop to polygon line

* apply clang format

* fix code

* fix bug

Co-authored-by: taichiH <[email protected]>

* Fix pass judge idx (#1090)

Signed-off-by: wep21 <[email protected]>

* fix bug (#1087)

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fix for ros2 style

* restore behavior velocity planner files for v0.8.0 update (fixed)

* Fix/remove duplicated point (#1107)

* Split PoseDeviaiton functions

Signed-off-by: Kenji Miyake <[email protected]>

* Remove unnecessary pose

Signed-off-by: Kenji Miyake <[email protected]>

* Don't insert point if duplicated point exists

Signed-off-by: Kenji Miyake <[email protected]>

* Fix condition of duplicated points

Signed-off-by: Kenji Miyake <[email protected]>

* seperate stop distance param (#1137)

* seperate stop distance param

Signed-off-by: Kosuke Murakami <[email protected]>

* apply param for automotically generated stop line

Signed-off-by: Kosuke Murakami <[email protected]>

* shift slow down line

Signed-off-by: Kosuke Murakami <[email protected]>

* add param in yaml file

Signed-off-by: Kosuke Murakami <[email protected]>

* fix prediction_time_margin bug (#1148)

* Revert "restore behavior velocity planner files for v0.8.0 update (fixed)"

This reverts commit 39231f23eb17e39a418f28f5ccfe1df55b3fb45c.

* fix ros2 style

* remove deprecated

* reformat

* add test temporary launch

* cpp_lint_namespace_what_you_use

* lint_comment_line_length

* pass ament cpplint

* fixe commit

* fix code

* remove unneccesary

* fix param structure

* fix missng params

* fix throttle time

Co-authored-by: tomoya.kimura <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: taichiH <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: Kosuke Murakami <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>

* Rename ROS-related .yaml to .param.yaml (#352)

* Rename ROS-related .yaml to .param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Remove prefix 'default_' of yaml files

Signed-off-by: Kenji Miyake <[email protected]>

* Rename vehicle_info.yaml to vehicle_info.param.yaml

Signed-off-by: Kenji Miyake <[email protected]>

* Rename diagnostic_aggregator's param files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix overlooked parameters

Signed-off-by: Kenji Miyake <[email protected]>

* [behavior_velocity_planner]: Fix missing ros2 porting (#392)

Signed-off-by: wep21 <[email protected]>

* Fix error handling of tf lookupTransform (#405)

Co-authored-by: autoware <[email protected]>

* rm_std_msgs (#402)

* Sensor data qos (#407)

* Use sensor data qos for pointcloud preprocessor

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

* Use sensor data qos for pointcloud

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

* Fix lint

Signed-off-by: wep21 <[email protected]>

* Use sensor data qos for livox tag filter and vector map filter

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Autoware <[email protected]>

* Ros2 fix topic name part1 (#408)

* Fix topic name of lane_departure_checker debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner debug

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of motion_velocity_optimizer

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_departure_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of mpc_follower

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of behavior_velocity_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of velocity_controller

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of lane_change_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_avoidance_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of obstacle_stop_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of freespace_planner

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of surround_obstacle_checker

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of costmap_generator

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of emergency_handler

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint errors

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix typo in planning module (#432)

* Fix typo in planning module

* Fix remaining errors

Signed-off-by: Kenji Miyake <[email protected]>

* Apply cpplint and uncrustify.

Co-authored-by: Kenji Miyake <[email protected]>

* fix traffic light module (#458)

* change log type (#459)

* add use_sim-time option (#454)

* Fix rolling build errors (#1225)

* Add missing include files

Signed-off-by: Kenji Miyake <[email protected]>

* Replace rclcpp::Duration

Signed-off-by: Kenji Miyake <[email protected]>

* Use reference for exceptions

Signed-off-by: Kenji Miyake <[email protected]>

* Use from_seconds

Signed-off-by: Kenji Miyake <[email protected]>

* Sync public repo (#1228)

* [simple_planning_simulator] add readme (#424)

* add readme of simple_planning_simulator

Signed-off-by: Takamasa Horibe <[email protected]>

* Update simulator/simple_planning_simulator/README.md

* set transit_margin_time to intersect. planner (#460)

* Fix pose2twist (#462)

Signed-off-by: Takagi, Isamu <[email protected]>

* Ros2 vehicle info param server (#447)

* add vehicle_info_param_server

* update vehicle info

* apply format

* fix bug

* skip unnecessary search

* delete vehicle param file

* fix bug

* Ros2 fix topic name part2 (#425)

* Fix topic name of traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_visualization

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix topic name of traffic_light_map_based_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_recognition

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_classifier

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix lint traffic_light_ssd_fine_detector

Signed-off-by: Takagi, Isamu <[email protected]>

* Fix issues in hdd_reader (#466)

* Fix some issues detected by Coverity Scan and Clang-Tidy

* Update launch command

* Add more `close(new_sock)`

* Simplify the definitions of struct

* fix: re-construct laneletMapLayer for reindex RTree (#463)

* Rviz overlay render fix (#461)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <[email protected]>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <[email protected]>

* uncrustified

Signed-off-by: Adam Dabrowski <[email protected]>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <[email protected]>

* back to RTD as superclass

Signed-off-by: Adam Dabrowski <[email protected]>

* Rviz overlay render in update (#465)

* Moved painiting in SteeringAngle plugin to update()

Signed-off-by: Adam Dabrowski <[email protected]>

* super class now back to MFD

Signed-off-by: Adam Dabrowski <[email protected]>

* uncrustified

Signed-off-by: Adam Dabrowski <[email protected]>

* acquire data in mutex

Signed-off-by: Adam Dabrowski <[email protected]>

* removed unnecessary includes and some dead code

Signed-off-by: Adam Dabrowski <[email protected]>

* Adepted remaining vehicle plugin classes to render-in-update concept. Returned to MFD superclass

Signed-off-by: Adam Dabrowski <[email protected]>

* restored RTD superclass

Signed-off-by: Adam Dabrowski <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Makoto Tokunaga <[email protected]>
Co-authored-by: Adam Dąbrowski <[email protected]>

* Unify Apache-2.0 license name (#1242)

* Make planning modules components (#1263)

Signed-off-by: wep21 <[email protected]>

* Remove use_sim_time for set_parameter (#1260)

Signed-off-by: wep21 <[email protected]>

* Refactor vehicle info util (#1305)

* Update license

Signed-off-by: Kenji Miyake <[email protected]>

* Refactor vehicle_info_util

Signed-off-by: Kenji Miyake <[email protected]>

* Rename and split files

Signed-off-by: Kenji Miyake <[email protected]>

* Fix interfaces

Signed-off-by: Kenji Miyake <[email protected]>

* Fix bug and add error handling

Signed-off-by: Kenji Miyake <[email protected]>

* Add "// namespace"

Signed-off-by: Kenji Miyake <[email protected]>

* Add missing include

Signed-off-by: Kenji Miyake <[email protected]>

* fix slow/stop marker color & stop reason (#1347) (#1354)

Co-authored-by: satoshi-ota <[email protected]>
Signed-off-by: wep21 <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* fix intersection stop line (#1272) (#1349)

* fix intersection stop line (#1272)

* fix intersection stop line

* fix comment

* Fix typo

Signed-off-by: wep21 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* Avoid passing empty lanelets to getPolygonFromArcLength (#1371)

Signed-off-by: wep21 <[email protected]>

* Add perception traffic light state output (#1302)

* Add perception traffic light state output

Signed-off-by: Takagi, Isamu <[email protected]>

* Modify message type

Signed-off-by: Takagi, Isamu <[email protected]>

* Apply message type to relay

Signed-off-by: Takagi, Isamu <[email protected]>

* Feature/consider jerk limit in passjudge (#1339) (#1351)

* Feature/consider jerk limit in passjudge (#1339)

* make new branch for behavior velocity planner

* update implementation for considering accel & jerk limit

* refactoring

* change default params

* change default params

* change minimum velocity which decides to conduct pass judge

* remove ROS_DEBUG_COND()

* remove unnecessary variables

* fix lowpass filter implementation

* calc acceleration in planner_data_

Co-authored-by: satoshi-ota <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Feature/refactor stop line module (#1343) (#1359)

* Refactor stop_line planner module

Signed-off-by: Kenji Miyake <[email protected]>

* Add document

Signed-off-by: Kenji Miyake <[email protected]>

* Fix English

Signed-off-by: Kenji Miyake <[email protected]>

* Fix

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>

* Feature/add stop duration ros2 (#1380)

* Feature/add stop duration (#1367)

* Add stop_duration to behavior_velocity_planner

Signed-off-by: Kenji Miyake <[email protected]>

* parameterize stop duration sec

* Use stop_duration in Stop Line module

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Hiroki OTA <[email protected]>
Signed-off-by: wep21 <[email protected]>

* Change default value

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* Fix topic name of external traffic light input (#1412)

* publish perception and external tl_state for mlops (#1350) (#1375)

* publish perception and external tl_state for mlops

* fix tl_state time stamp

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Fix/traffic light planning module (#1424) (#1487)

* Fix/traffic light planning module (#1424)

* bug fix

* refactor

* refactor

* cosmetic change

* fix typo

* cosmetic change

* refactor

* remove unused func

* enable restart

* cosmetic change

* fix typo

* refactor

* bug fix

* cosmetic change

* modify debug_data

* Apply lint

Signed-off-by: wep21 <[email protected]>

* Remove unnecesarry comment

Signed-off-by: wep21 <[email protected]>

* Fix bug

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

* change msg type looking traffic light state (#1494)

* change msg type looking traffic light state (#1455)

* change msg type looking traffic light state

* fix msg name

* using namespace

* change function name

* fix typo

* add readme

* Update awapi/awapi_awiv_adapter/Readme.md

fix typo

Co-authored-by: Yukihiro Saito <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

* Remove deprecated message include

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>

* Add namespace to behavior_velocity_planner (#1542)

* Add namespace to behavior_velocity_planner

Signed-off-by: Kenji Miyake <[email protected]>

* Fix typo

Signed-off-by: Kenji Miyake <[email protected]>

* Avoid passing uninitialized index (#1609)

Signed-off-by: wep21 <[email protected]>

* suppress warnings  for behavior_velocity_planner (#1733)

* add Werror

* suppress warnings for stopline module

* fix for crosswalk

* fix for traffic light

* fix for detection area

* fix style

* use {}

* use auto

* Fix -Wunused-parameter (#1836)

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* fix spell

* Fix lint issues

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore flake8 warnings

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Hiroki OTA <[email protected]>

* Fix compiler warnings (#1837)

* Fix -Wunused-private-field

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-variable

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wformat-security

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Winvalid-constexpr

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wdelete-non-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wdelete-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Winconsistent-missing-override

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wrange-loop-construct

Signed-off-by: Kenji Miyake <[email protected]>

* Fix "invalid application of 'sizeof' to an incomplete type"

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore -Wgnu-anonymous-struct and -Wnested-anon-types

Signed-off-by: Kenji Miyake <[email protected]>

* Fix lint

Signed-off-by: Kenji Miyake <[email protected]>

* Ignore -Wno-deprecated-declarations in CUDA-related packages

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

* Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

* Add autoware api (#1979)

* Feature/add virtual traffic light planner (#1588)

* add sort-package-xml hook in pre-commit (#1881)

* add sort xml hook in pre-commit

* change retval to exit_status

* rename

* add prettier plugin-xml

* use early return

* add license note

* add tier4 license

* restore prettier

* change license order

* move local hooks to public repo

* move prettier-xml to pre-commit-hooks-ros

* update version for bug-fix

* apply pre-commit

* remove spline_interpolation, and create interpolation package that ha… (#2114)

* remove spline_interpolation and add interpolation package

* fix bugs and add simple test

* modify application for interpolation package

* add some tests and fix ci test

* add some tests

* add -Werror

* move functions to anonymous

* fix reviews

* fix typo

* fix review and lint

* add tests

* resolve TODOs

* add README.md

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* Update common/math/interpolation/test/src/test_interpolation_utils.cpp

Co-authored-by: Kenji Miyake <[email protected]>

* fix README.md

* dealt with reviews

* update README.md

* update README.md

* Update common/math/interpolation/README.md

* fix some bugs

* fix typo

* update README.md

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix test

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix cdots

* fix README.md

* Update common/math/interpolation/README.md

Co-authored-by: Kazuki Miyahara <[email protected]>

Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>

* Sync develop/fix interpolation and speed up calculation (#2290)

* debug slope calculation in behavior (#1566) (#1727)

* debug slope calculation in behavior (#1566)

* update

* update

* revert change of autoware_utils

* define getPose in behavior_path_planner

* update

* update

* update

* update

* interpolate z in obstacle_avoidance_planner

* update velocity controller

* fix detection area and scene

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp

Co-authored-by: tkimura4 <[email protected]>

* update comment in velocity controller

* remove debug print

* update

Co-authored-by: tkimura4 <[email protected]>
Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix variable names

Signed-off-by: Kenji Miyake <[email protected]>

* Fix uncrustify

Signed-off-by: Kenji Miyake <[email protected]>

* Fix mistake

Signed-off-by: Kenji Miyake <[email protected]>

Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>

* add underscore to marker namespace (#1785)

Co-authored-by: satoshi-ota <[email protected]>

* [obstacle_avoidance_planner] remove useless get nearest idx (#1851)

* modify velocity insertion in obstacle_avoidance_planner

Signed-off-by: Takamasa Horibe <[email protected]>

* [obstacle_avoidance_planner] reduce calculation cost in relative/absolute transformation (#1844)

* implement relative/absolute transformation without yaw but directly sin/cos of yaw

* rename: relative_p to absolute_p

* assigin point.z to rel/abs_z

* fix cpp-lint error

Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>

* fix argument order (#1502) (#1622)

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Change param (#1559) (#1677)

Co-authored-by: Fumiya Watanabe <[email protected]>

* Feature/use spline module in behavior velocity planner (#1457) (#1495)

* Feature/use spline module in behavior velocity planner (#1457)

* Use spline_interpolation module

* Remove unused function

* Remove unused include

* Use autoware_utils

* Remove unused function

* Remove cubic_spline.hpp

* Fix error handling

* Fix interpolation of velocity

Signed-off-by: wep21 <[email protected]>

* change warning threshold (#1539)

Signed-off-by: Takamasa Horibe <[email protected]>

* Apply lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>

* Feature/porting behavior path planner (#1645)

* Add behavior path planner pkg with Lane Change (#1525)

* add lanelet extension funcs

Signed-off-by: Takamasa Horibe <[email protected]>

* add planning msgs for FOA

Signed-off-by: Takamasa Horibe <[email protected]>

* add behavior_path_planner pkg

Signed-off-by: Takamasa Horibe <[email protected]>

* apply clang format

Signed-off-by: Takamasa Horibe <[email protected]>

* add error handling for config load failure

Signed-off-by: Takamasa Horibe <[email protected]>

* replace word: foa with remote control

Signed-off-by: Takamasa Horibe <[email protected]>

* add readme

Signed-off-by: Takamasa Horibe <[email protected]>

* use pointer for return value of path

Signed-off-by: Takamasa Horibe <[email protected]>

* fix hz

Signed-off-by: Takamasa Horibe <[email protected]>

* remove debug print

Signed-off-by: Takamasa Horibe <[email protected]>

* remove shide-shift & avoidance related files

Signed-off-by: Takamasa Horibe <[email protected]>

* Clip path by goal

* add build depend for behavior tree cpp

Signed-off-by: Takamasa Horibe <[email protected]>

* temporally disable lint test in lanelet2_extension

Signed-off-by: Takamasa Horibe <[email protected]>

Co-authored-by: rej55 <[email protected]>

* Add avoidance module in behavior_path_planner (#1528)

* Revert "remove shide-shift & avoidance related files"

This reverts commit d819ea0291fca251012e4b9ffd16de3896830aa2.

* refactor findNewShiftPoint func

Signed-off-by: Takamasa Horibe <[email protected]>

* remove duplicated decleration

Signed-off-by: Takamasa Horibe <[email protected]>

* fix barkward length issue
 - add clipPathLenght func in avoidance

Signed-off-by: Takamasa Horibe <[email protected]>

* refactor:
 - translate english
 - minor modification for traffic distance

Signed-off-by: Takamasa Horibe <[email protected]>

* support debug marker in behavior_path_planner

Signed-off-by: Takamasa Horibe <[email protected]>

* clean up side shift module

Signed-off-by: Takamasa Horibe <[email protected]>

* change topic name

Signed-off-by: Takamasa Horibe <[email protected]>

* remove japanese

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/side_shift/side_shift_module.hpp

Co-authored-by: Yukihiro Saito <[email protected]>

* fix typo

Signed-off-by: Takamasa Horibe <[email protected]>

* remove unused var

Signed-off-by: Takamasa Horibe <[email protected]>

* adress reviewer comments:
 - add const for variables
 - add comment
 - fix typo

Signed-off-by: Takamasa Horibe <[email protected]>

* fix typo

Signed-off-by: Takamasa Horibe <[email protected]>

Co-authored-by: Yukihiro Saito <[email protected]>

* Replace behavior_path utilities with autoware_utils (#1532)

* replace calcDistance

Signed-off-by: Takamasa Horibe <[email protected]>

* replace arange

Signed-off-by: Takamasa Horibe <[email protected]>

* replave convertToEigenPt with autoware_utils::fromMsg

Signed-off-by: Takamasa Horibe <[email protected]>

* replace normalizeRadian

Signed-off-by: Takamasa Horibe <[email protected]>

* cosmetic change

Signed-off-by: Takamasa Horibe <[email protected]>

* import #1526 into behavior path planner (#1531)

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix/behavior path empty path output guard (#1536)

* add guard

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/behavior_path_planner.cpp

* fix lateral jerk calculation (#1549)

Signed-off-by: Takamasa Horibe <[email protected]>

* fix: error handling on exception in behavior_path_planner (#1551)

Signed-off-by: Takamasa Horibe <[email protected]>

* Fix ignore too steep avoidance path (#1550)

* ignore too steep path

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/scene_module/avoidance/avoidance_module.cpp

* parametrize lateral jerk limit

Signed-off-by: Takamasa Horibe <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/include/behavior_path_planner/scene_module/avoidance/avoidance_module.hpp

Co-authored-by: tkimura4 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* use offsetNoThrow and add error log (#1615)

Signed-off-by: Takamasa Horibe <[email protected]>

* Ignore object ahead goal for avoidance (#1618)

* Ignore object ahead goal for avoidance

* Add flag

* Fix position of definition of goal_pose

* Fix arclength calculation

* Fix position of definition of goal_pose

* fix intersection stop line (#1636)

* fix intersection stop line

* fix typo

* add document (#1635)

Signed-off-by: Takamasa Horibe <[email protected]>

* Port behavior path planner to ros2

Signed-off-by: wep21 <[email protected]>

* Apply lint

Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix map qos

Signed-off-by: wep21 <[email protected]>

* debug slope calculation in behavior (#1566)

* update

* update

* revert change of autoware_utils

* define getPose in behavior_path_planner

* update

* update

* update

* update

* interpolate z in obstacle_avoidance_planner

* update velocity controller

* fix detection area and scene

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/src/utilities.cpp

Co-authored-by: tkimura4 <[email protected]>

* update comment in velocity controller

* remove debug print

* update

Co-authored-by: tkimura4 <[email protected]>

* Address review: Fix config file name

Signed-off-by: wep21 <[email protected]>

* pre-commit fixes

Signed-off-by: wep21 <[email protected]>

* Fix redeclaring parameters

Signed-off-by: wep21 <[email protected]>

* Add missing tf2 geometry function

Signed-off-by: wep21 <[email protected]>

* Apply lint

Signed-off-by: wep21 <[email protected]>

* Fix rclcpp Time initialization

Signed-off-by: wep21 <[email protected]>

* Use now() instead of msg stamp

Signed-off-by: wep21 <[email protected]>

* Use throttle output in getExpandedLanelet

Signed-off-by: wep21 <[email protected]>

* Add missing const

Signed-off-by: wep21 <[email protected]>

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: rej55 <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>

* Fix/generate intersection stop (#1590) (#1679)

* Fix/generate intersection stop (#1590)

* fix bug of conflicting polygons

* clean code

* Fix lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* Fix/stop margin time ros2 (#1683)

* Add stop margin time in walkway and merge_from_private_area (#1613)

* Add stop margin time in walkway, merge_from_private_area

* Fix param name

* Fix bug

* Apply lint

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Fumiya Watanabe <[email protected]>

* Feature/change stop lines handling to support parking car avoidance p… (#1676)

* Feature/change stop lines handling to support parking car avoidance path (#1464)

* support parking car avoidance

* change log level

* apply clang-format

* add extendLine function

* clean up & apply clang-format

* change implementation getStopPoseFromMap()

* remove unuse comment line

Co-authored-by: satoshi-ota <[email protected]>

* fix argument order (#1580)

Co-authored-by: satoshi-ota <[email protected]>

Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: satoshi-ota <[email protected]>

* Feature/porting occlusion spot (#1740)

* Feature/occlusion_spot safety planner public road (#1594)

* add blind spot safety planner public road

* remove duplicated procesing

* remove unused private param

* renaming fix typo add comments

* fix spell check

* velocity -> relative velocity

* calc2d, To param, simplify search, To original

* add the num possible collision gurd

* computational cost reduction

* Cosmetic change for PossibleCollisionInfo

* add interpolation to possible collision value

* refactor codes

* fix details

* invalid point gurd

* To Param

* refacotor to occlusion spot util

* cosmetic change

* clean up blindspot

* To Occlusion Spot

* revise readme

* refactor drawing

* for better explanation

* fix velocity profile

* clean up details

* cosmetic change for debug marker

* use max velocity in obstacle info instead

* add gtest for Too Many Possible Collision case

* change case

* refactor readme

* minor fix

* add more occlusion spot explanation

* replace svg

* add gtest build path lanelet

* hotfix lateral distance and searching method

* update g test for lateral distance

* use faster search

* set more realistic param

* add lanelet subtype highway

* cosmetic change of reviews

* add occlusion spot module in private area (#1640)

* add occlusion spot in private

* For debugging change

* add spline interpolation to path

* add review changes

* adding minor change

* cosmetic change

* Vector to retval

* Blindspot To OcclusionSpot1

* To Occlusion Spot 2

* To Occlusions spot3

* update gtest with unified anchor

* remove anchor

* add test slice

* simplify interpolation

* Too Occlusion spot4

* add test buffer

* To Occlusion spot

* namespace gurd

* correct slice and add interpolation first

* handle self crossing with check for invation

* to ros debug stream

* removed unused interpolation

* add readme to plant uml

* cosmetic change

* minor change

* update readme

* review change

* change occlusion spot text color

* To Offset no Throw

* better debug marker

* catch only inversion error

* skip return in case of inversion

* for better grid

* simplify path lanelet at first

* remove std::cout

* for better path

* limit ego path inside target lanelet location

* remove last points

* cosmetic change for markers

* apply module for limited scene

* fix interpolation gurd

* for better params

* do not includes path behind

* remove dummy perception publisher

* Revert "remove dummy perception publisher"

This reverts commit 4acad985fe31dd9befaa21a16631495de6c3a117.

* replace hard coded occupancy grid option in psim

* remove respawn

* add arg to params and remove redundunt launch

* fix spell check

* fix default value

Co-authored-by: tkimura4 <[email protected]>

* Feature/occlusion spot private slice size param (#1703)

* add min slice size

* for a bit narrow lateral distance

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/config/occlusion_spot_param.yaml

Co-authored-by: Maxime CLEMENT <[email protected]>

Co-authored-by: Maxime CLEMENT <[email protected]>

* Rename files

Signed-off-by: wep21 <[email protected]>

* Porting to ros2

Signed-off-by: wep21 <[email protected]>

* pre-commit fixes

Signed-off-by: wep21 <[email protected]>

* Fix typo

Signed-off-by: wep21 <[email protected]>

* Fix launch namespace

Co-authored-by: tkimura4 <[email protected]>

* Fix parameter type

Co-authored-by: tkimura4 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/scene_occlusion_spot_in_private_road.cpp

Co-authored-by: tkimura4 <[email protected]>

Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: Maxime CLEMENT <[email protected]>

* fix function name and condition for detection area (#1758)

* Fix build warning for occlusion spot (#1766)

Signed-off-by: wep21 <[email protected]>

* Fix passing uninitialized index (#1792)

* Fix passing uninitialized index

Signed-off-by: wep21 <[email protected]>

* Apply uncrustify

Signed-off-by: wep21 <[email protected]>

* Fix return value

Signed-off-by: wep21 <[email protected]>

* Fix/intersection bug (#1787)

* fix insert point function

* apply format

* separate insertPoint and hasDuplicatedPoint

* clean code

* fix bug

* replace velocity if collision point is too close to original path point (#1799)

* replace velocity if collision point is too close to original path point

* fix comment

* Fix compile warnings (#1852)

Fix -Wunused-parameter

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wunused-private-field

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wunused-lambda-capture

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wdelete-non-abstract-non-virtual-dtor

Signed-off-by: Kenji Miyake <[email protected]>

Fix -Wrange-loop-construct

Signed-off-by: Kenji Miyake <[email protected]>

Ignore lint error

Signed-off-by: Kenji Miyake <[email protected]>

* Document / behavior velocity planner (#1767)

update document

Co-authored-by: Kazuki Miyahara <[email protected]>

* fix occlusion spot insert velocity ros2 (#1821)

* Fix/occlusion spot offset (#1824)

* merge calcCollisionFunction

* ConsiderSignedOffset

* add extractRoadTargetAndSignedOffset

* apply signed offset and fix longitudinal distance

* fix unapplied param

* update gtest

* consider offset until target road

* refactor for proper variable name

* fix typo

* remove unused first index

* fix closest

* fix diff

* fix velocity and height

* tune distance thershold

* fix colcon test

* apply param at the experiment

* fix unused and param

* Fix/current acc initialize (#1899)

* use boost::optional

* null guard

* fix typo

* Feature/improve intersection detection area (#1958)

* exclude ego_lanes from detection_area

* add empty handling

* remove unused function

* Fix for uncrustify

Co-authored-by: Kenji Miyake <[email protected]>

* [behavior_velocity_planner] remove unnecessary graph search to reduce computational cost (#1980)

* remote unnecessary graph search

Signed-off-by: Takamasa Horibe <[email protected]>

* add var for graph id

Signed-off-by: Takamasa Horibe <[email protected]>

* remove unused stopline search for computational cost reduction

Signed-off-by: Takamasa Horibe <[email protected]>

* restore lane_ids iteration as it was

Signed-off-by: Takamasa Horibe <[email protected]>

* sort sidewalk slice by arc length (#1967)

* sort sidewalk slice by arc length

* handle invalid index

* divide offset to ego to closest to and closest to target

* fix cartesian distance to arc lane distance

* consider ego to target to ignore length

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/src/scene_module/occlusion_spot/occlusion_spot_utils.cpp

Co-authored-by: tkimura4 <[email protected]>

Co-authored-by: tkimura4 <[email protected]>

* Fix/merge from private area (#2005)

* fix insert pos. of merge from private area

* exclude entrance of private road from path

* extract exit of private road

* Feature/intersection module detect obstacle (#1990)

* change the way to detect target objects in detection area

* check the angle of deteced objects

* ignore predicted path with low confidence

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

Co-authored-by: taikitanaka3 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

Co-authored-by: taikitanaka3 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/README.md

Co-authored-by: taikitanaka3 <[email protected]>

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/include/scene_module/intersection/scene_intersection.hpp

Co-authored-by: taikitanaka3 <[email protected]>

* fix format

* fix object position judge

* change function

* apply format

Co-authored-by: taikitanaka3 <[email protected]>

* occlusion spot lower min ego velocity (#2140)

Co-authored-by: taikitanaka3 <[email protected]>

* add behavior velocity planner utils (#2113)

* add gtest utils

* add state machine as utils

* add arc lane utils

* remove empty file

* add gtest for offset segment

* use calcdist2d in autoware util

* apply get point

* fix uncrustify

* fix conflict getPoint in behavior path

* apply commit suggestion

* slower than ros1

* use interpolation::slerp (#2161)

* Update traffic light state if ref stop point is ahead of previous one (#2197) (#2240)

Signed-off-by: wep21 <[email protected]>

Co-authored-by: Daisuke Nishimatsu <[email protected]>

* Change formatter to clang-format and black (#2332)

* Revert "Temporarily comment out pre-commit hooks"

This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.

* Replace ament_lint_common with autoware_lint_common

Signed-off-by: Kenji Miyake <[email protected]>

* Remove ament_cmake_uncrustify and ament_clang_format

Signed-off-by: Kenji Miyake <[email protected]>

* Apply Black

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Fix for cpplint

* Fix include double quotes to angle brackets

Signed-off-by: Kenji Miyake <[email protected]>

* Apply clang-format

Signed-off-by: Kenji Miyake <[email protected]>

* Fix build errors

Signed-off-by: Kenji Miyake <[email protected]>

* Add COLCON_IGNORE (#500)

Signed-off-by: Kenji Miyake <[email protected]>

* rename topic name twist -> odometry (#568)

Co-authored-by: Takayuki Murooka <[email protected]>

* Auto/behavior velocity (#605)

* port except for traffic light

* fix test

* update traffic light

* fix errors

* rename traffic message: final -> result

* fix package.xml

* twist -> odometry

* use confidence

* rename topic name of dynamic objects

* remove TODOs

* deal with probabilistic test failure

* deal with probabilistic test failure2

Co-authored-by: Takayuki Murooka <[email protected]>

* Sync .auto branch with the latest branch in internal repository (#691)

* add trajectory point offset in rviz plugin (#2270)

* sync rc rc/v0.23.0 (#2258)

* fix interpolation for insert point (#2228)

* fix interpolation for insert point

* to prev interpolation pkg

* Revert "to prev interpolation pkg"

This reverts commit 9eb145b5d36e297186015fb17c267ccd5b3c21ef.

Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: taikitanaka <[email protected]>

* fix topic name (#2266)

Signed-off-by: Takamasa Horibe <[email protected]>

* Add namespace to diag for dual_return_filter (#2269)

* Add a function to make 'geometry_msgs::msg::TransformStamped' (#2250)

* Add a function to make 'geometry_msgs::msg::TransformStamped'
* Add 'child_frame_id' as an argument of 'pose2transform'

* Simplify marker scale initialization (#2286)

* Fix/crosswalk polygon (#2279)

* extend crosswalk polygon

* improve readability

* fix polygon shape

* Add warning when decel distance calculation fails (#2289)

Signed-off-by: Makoto Kurihara <[email protected]>

* [motion_velocity_smoother] ignore debug print (#2292)

* cosmetic change

Signed-off-by: Takamasa Horibe <[email protected]>

* cahnge severity from WARN to DEBUG for debug info

Signed-off-by: Takamasa Horibe <[email protected]>

* use util for stop_watch

Signed-off-by: Takamasa Horibe <[email protected]>

* fix map based prediction (#2200)

* fix map based prediction

* fix format

* change map based prediction

* fix spells

* fix spells in comments

* fix for cpplint

* fix some problems

* fix format and code for clang-tidy

* fix space for cpplint

* Update Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

* fix vector access method

* fix readme format

* add parameter

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

Co-authored-by: Kazuki Miyahara <[email protected]>

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

Co-authored-by: Kazuki Miyahara <kmiya@out…
@BonoloAWF BonoloAWF added the type:bug Software flaws or errors. label Apr 19, 2022
@mitsudome-r
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This is probably fixed in #661.
Feel free to re-open the issue if you still see the error.

TomohitoAndo pushed a commit to TomohitoAndo/autoware.universe that referenced this issue Oct 5, 2022
@tier4-autoware-private-bot
Merge pull request autowarefoundation#432 from tier4/sync-main-for-de…
f75027c 
…velop

sync main for develop
keiota pushed a commit to keiota/autoware.universe that referenced this issue Aug 17, 2023
@kosuke55
feat(start_planner): add option for lane departure (autowarefoundatio…
9561e7c 
…n#432)

Signed-off-by: kosuke55 <[email protected]>
kyoichi-sugahara pushed a commit that referenced this issue Sep 16, 2023
@tier4-autoware-private-bot @kenji-miyake
chore: sync files (#432)
ec9025d 
Signed-off-by: GitHub <[email protected]>

Co-authored-by: kenji-miyake <[email protected]>
Kazunori-Nakajima pushed a commit to Kazunori-Nakajima/autoware.universe that referenced this issue Feb 6, 2025
@tier4-autoware-public-bot
Merge pull request autowarefoundation#432 from tier4/sync-awf-latest
2cde3c8 
chore: sync awf-latest
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@mitsudome-r @taikitanaka3 @BonoloAWF