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feat(behavior_path_planner): fix resampling method #1526

Merged
merged 1 commit into from
Aug 5, 2022
Merged

feat(behavior_path_planner): fix resampling method #1526

merged 1 commit into from
Aug 5, 2022

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purewater0901
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@purewater0901 purewater0901 commented Aug 5, 2022 •
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Signed-off-by: yutaka [email protected]

Description

Since the current method resamples all of the input points of the original path, it increases the computational cost and the performance of some modules becomes worse due to this heavy resampling. In order to relax computational cost, I only resample one point for each lanelet.

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@purewater0901 purewater0901 marked this pull request as ready for review August 5, 2022 08:29
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Codecov Report

Merging #1526 (c64a7d1) into main (1e9e9af) will decrease coverage by 0.00%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##             main    #1526      +/-   ##
==========================================
- Coverage   10.62%   10.61%   -0.01%     
==========================================
  Files        1113     1113              
  Lines       78569    78623      +54     
  Branches    18393    18427      +34     
==========================================
  Hits         8349     8349              
- Misses      61489    61543      +54     
  Partials     8731     8731
Flag Coverage Δ *Carryforward flag
differential 0.78% <0.00%> (?)
total 10.61% <0.00%> (ø) Carriedforward from 1e9e9af

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

Impacted Files Coverage Δ
...nning/behavior_path_planner/src/path_utilities.cpp 0.00% <0.00%> (ø)

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taikitanaka3
taikitanaka3 approved these changes Aug 5, 2022
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LGTM
I have tested with many intersection case and confirm the sampling point is decent from at least one id from original lanelet to prevent register/unregister of behavior velocity planner
https://user-images.githubusercontent.com/65527974/183048297-7ffe4dee-a7a0-4455-8728-7832159edb84.mp4

@purewater0901 purewater0901 merged commit 0fe0931 into autowarefoundation:main Aug 5, 2022
@purewater0901 purewater0901 deleted the fix/behavior-resampling branch August 5, 2022 09:47
taikitanaka3 pushed a commit that referenced this pull request Aug 5, 2022
@purewater0901 @taikitanaka3
feat(behavior_path_planner): fix resampling method (#1526)
3831bbe 
Signed-off-by: yutaka <[email protected]>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Aug 6, 2022
Merged
tkimura4 referenced this pull request in tier4/autoware.universe Aug 9, 2022
@purewater0901 @tkimura4
feat(behavior_path_planner): fix resampling method (#1526)
7b2d00f 
Signed-off-by: yutaka <[email protected]>
tkimura4 referenced this pull request in tier4/autoware.universe Aug 9, 2022
@purewater0901 @tkimura4
feat(behavior_path_planner): fix resampling method (#1526)
1a02754 
Signed-off-by: yutaka <[email protected]>
HaoruXue pushed a commit to HaoruXue/autoware.universe that referenced this pull request Aug 10, 2022
@purewater0901
feat(behavior_path_planner): fix resampling method (autowarefoundatio…
305e956 
…n#1526)

Signed-off-by: yutaka <[email protected]>
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 17, 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 (#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…
kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 17, 2022
@tkimura4 @wep21
@TakaHoribe @rej55 @yukkysaito @takayuki5168 @satoshi-ota @tier4-autoware-private-bot @kyoichi-sugahara @taikitanaka3 @kmiya @kenji-miyake @1222-takeshi @IshitaTakeshi @mkuri @purewater0901 @isamu-takagi @s-murakami-esol @yukke42 @maxime-clem @miursh @0x126 @aohsato
feat: add behavior_path_planner package (#25)
235c7ce 
* Feature/porting behavior path planner (autowarefoundation#1645)

* Add behavior path planner pkg with Lane Change (autowarefoundation#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 (autowarefoundation#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 (autowarefoundation#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 autowarefoundation#1526 into behavior path planner (autowarefoundation#1531)

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

* Fix/behavior path empty path output guard (autowarefoundation#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 (autowarefoundation#1549)

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

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

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

* Fix ignore too steep avoidance path (autowarefoundation#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 (autowarefoundation#1615)

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

* Ignore object ahead goal for avoidance (autowarefoundation#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 (autowarefoundation#1636)

* fix intersection stop line

* fix typo

* add document (autowarefoundation#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 (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]>

* 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/separate drivable area calculation (autowarefoundation#1828)

* Do not calculate drivable area at plan candidate

* Remove is_first_plan_

* Fix comment

* Fix compile warnings (autowarefoundation#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]>

* Feature/behavior fillpoly drivable area fast (autowarefoundation#1843)

* add sample codes to check how overlapped polygon works, which have to be removed before merged

* remove cv::Mats for each lanelet

* remove unused variable

* remove test sample codes

* assign pose to pre goal in behavior (autowarefoundation#1874)

* Rearrange behavior path planner utilities  (autowarefoundation#1944)

* Refactor route handler

* Refactor utilities

* Remove unnecessary blank line

* [behavior_path_planner] refactor parameter declaration (autowarefoundation#1953)

* refactor parameter definition

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

* apply format

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

* [behavior_path_planner] remove unused drivable area calculation (autowarefoundation#1977)

* [behavior_path_planner] remove unused drivable area calculation in planCandidate()

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

* change function name

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

* [behavior_path_planner] update side shift module (autowarefoundation#1968)

* fix side_shift module with path_shifter

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

* update readme for side shift

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

* fix markdown lint

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

* remove unused drivable area calculation

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

* rename thres -> threshold

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

* Fix package.xml (autowarefoundation#2056)

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

* Feature/expand drivable area (autowarefoundation#1812)

* check if ego lane has adjacent lane or not

* expand drivable area by using lanelet

* remove unnecessary operator

* use extra drivable area

* fix variable names

* fix indent

* get polygon by id

* fix variable name

* remove redundant logic

* update area name

* disable expand by default

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

* fix clip path length (autowarefoundation#2095)

* fix clip path

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

* update

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

* not ignore lanelet altitude (autowarefoundation#2132) (autowarefoundation#2133)

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

* Fix/side shift approval (autowarefoundation#2126)

* Fix approval

* Add clear approval

* Fix typo

* add pull over/out module (autowarefoundation#2147)

* Improve avoidance algorithm in behavior_path_planner (autowarefoundation#2127)

* add debug comment

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

* use same clock and logger

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

* update

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

* remove Frenet struct

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

* update

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

* change param

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

* Correspond exactly to the modified and raw shift points.

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

* separate structure file

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

* update

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

* fix return shift calculation

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

* add index info on path marker

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

* update returnSHift func

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

* update param

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

* update findNewShiftPoiint logic by using linear shifter

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

* fix return distance calculation

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

* fix return shift for steep shape

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

* fix for return shift after approval

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

* re-fix for return shift after approval

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

* re-re-fix for return shift after approval

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

* add same object_id shift for parent_ids even if it is not overwrapped.

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

* fix clock for approval_handler

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

* fix bug: extra_return_shift is not registered

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

* update
 - update logic of unique check for registered shift
 - update addReturnShift func to support for opposite obstacle case
 - disable trimSmallShift

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

* use relative shift for avoid start point

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

* update path_shifter: use end_point shift for relative shift calculation so that the desired shift length is set at shift_point's end_idx (before, it was set at the end point of the path)

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

* update: select existing shift point that will be removed before adding a new one

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

* fix path_shifter: current_shift for linear shift

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

* update
 - add ignore over-jerk shift function
 - improve debug print

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

* update
 - add control flag for debug print
 - add control flag for debug marker

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

* TMP: add sparse resampling to reduce computational cost

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

* update parameter: min_nominal_avoidance_speed 3.0 -> 5.0

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

* cosmetic change
 - move some debug functions to debug.cpp
 - remove temporal debug comment
 - remove unused params
 - parametrize some values
 - align function decleration order

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

* add empty avoidance design

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

* applly format

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

* fix typo

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

* fix design.md directory

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

* change variable nale sudden, tight -> sharp

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

* remove unused param

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

* fix default value

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

* add design

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

* move some functions to util

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

* fix design typo

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

* remove temporal mutable & adjust function name

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

* parametrize some hard-coded params

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

* follow ament_uncrustify & cpplint

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

* fix parent_id inheritance bug

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

* back to experiment config

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

* update trim filter: trimSharpReturn

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

* add lost-detection compensator

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

* resolve todo for empty path

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

* change param: set false for debug publisher

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

* update debug comment

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

* remove unused debug print

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

* update default param

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

* use closest footpoint from ego for avoidance point

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

* cosmetic change

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

* fix format

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

* fix typo

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

* move lateral and longitudinal distance calculation to util

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

* simplify mergeShift function

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

* fix format

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

* fix typo

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

* fix readme style

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

* revert unexpected changes

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

* - remove unused comment
- translate to english

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

* apply format

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

* fix typo

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

* fix for createQuaternionFromRPY/Yaw (autowarefoundation#2154)

* add behavior velocity planner utils (autowarefoundation#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 (autowarefoundation#2161)

* Fix side shift planner (autowarefoundation#2171)

* add print debug

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

* remove forward shift points when adding new point

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

* remove debug print

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

* format

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

* Fix remove threshold

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

* Fix/pull out and pull over (autowarefoundation#2175) (autowarefoundation#2177)

* delete unnecessary check

* fix condition of starting pull out

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

* change threshold_distance_object_is_on_center to 1.0 (autowarefoundation#2176)

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

* [hotfix] 1 path point exception after resampling (autowarefoundation#2204) (autowarefoundation#2208)

* fix 1 path point exception after resampling

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

* Apply suggestions from code review

* Apply suggestions from code review

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

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

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

* [hotfix] Fix lane ids (autowarefoundation#2211) (autowarefoundation#2212)

* Fix lane ids

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

* Prevent acceleration on avoidance (autowarefoundation#2214) (autowarefoundation#2216)

* prevent acceleration on avoidance

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

* fix param name

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

* parametrize avoidance acc

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

* change param name

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

* fix typo

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

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

* design document for avoidance module (autowarefoundation#2196)

* Update behavior_path_planner_avoidance-design.md

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

* fix for markdown lint

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

* fix lint

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

* fix

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

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

* Update planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner_avoidance-design.md

* update

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

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

* [hotfix] Remove exception in avoidance module (autowarefoundation#2233) (autowarefoundation#2234)

* Remove exception

* Fix clock

* Remove blank line

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

* Add description in behavior path planner (autowarefoundation#2248)

* add description for goal point management functions

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

* change function name

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

* update readme

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

* fix readme

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

* fix typo

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

* refactor center line calculation (autowarefoundation#2252)

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

* 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]>

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

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

* Port behavior path planner (autowarefoundation#622)

* Convert message to autoware_auto_msgs

* Use route_handler package and fix bugs

* Fix README

* Fix hazard signal

* Fix default value of TurnSignalInfo and use get_clock()

* Use odometry

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

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

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

* fix interpolation for insert point (autowarefoundation#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 (autowarefoundation#2266)

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

* Add namespace to diag for dual_return_filter (autowarefoundation#2269)

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

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

* Simplify marker scale initialization (autowarefoundation#2286)

* Fix/crosswalk polygon (autowarefoundation#2279)

* extend crosswalk polygon

* improve readability

* fix polygon shape

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

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

* [motion_velocity_smoother] ignore debug print (autowarefoundation#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 (autowarefoundation#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 <[email protected]>

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

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

* Update Readme.md

* Update perception/object_recognition/prediction/map_based_prediction/Readme.md

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

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

* remove failure condition for 0 velocity trajectory (autowarefoundation#2295)

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

* [mpc_follower] remove stop distance condition from stopState decision (autowarefoundation#1916)

* [mpc_follower] remove stop distance condition from stopState decision

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

* add invalid index handling

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

* Move the debug marker initialization part to another file (autowarefoundation#2288)

* Move the debug marker initialization part to 'debug.cpp'

* Make 'isLocalOptimalSolutionOscillation' independent from 'NDTScanMatcher' (autowarefoundation#2300)

* Remove an unused function 'getTransform' (autowarefoundation#2301)

* Simplify iteration of initial poses (autowarefoundation#2310)

* Make a transform object const (autowarefoundation#2311)

* Represent poses in 'std::vector' instead of 'geometry_msgs::msg::PoseArray' (autowarefoundation#2312)

* Feature/no stopping area (autowarefoundation#2163)

* add no stopping area module to behavior velocity planner

* apply utils

* add polygon interpolation module order stopline around area is considered

* devide jpass udge with stop line polygon

* update docs

* rename file name

* update to latest

* minor change for marker

* update license

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

* update license

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

* update license

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

* update license

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

* minor fix

* add parameter tuning at experiment

* update readme

* format doc

* apply comments

* add exception gurd

* cosmetic change

* fix ament

* fix typo and remove for statement

* & to " "

* better ns

* return pass judge param

* add missing stoppable condition

* add clear pass judge and stoppable flag

* add comment

* precommit fix

* cpplint

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

* sync rc rc/v0.23.0 (autowarefoundation#2281)

* Fix side shift planner (autowarefoundation#2171) (autowarefoundation#2172)

* add print debug

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

* remove forward shift points when adding new point

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

* remove debug print

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

* format

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

* Fix remove threshold

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

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

* Fix/pull out and pull over (autowarefoundation#2175)

* delete unnecessary check

* fix condition of starting pull out

* Add emergency status API (autowarefoundation#2174) (autowarefoundation#2182)

* Fix/mpc reset prev result (autowarefoundation#2185) (autowarefoundation#2195)

* reset prev result

* clean code

* reset only raw_steer_cmd

* Update control/mpc_follower/src/mpc_follower_core.cpp

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

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

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

* [hotfix] 1 path point exception after resampling (autowarefoundation#2204)

* fix 1 path point exception after resampling

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

* Apply suggestions from code review

* Apply suggestions from code review

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

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

* [hotfix] Fix lane ids (autowarefoundation#2211)

* Fix lane ids

* Prevent acceleration on avoidance (autowarefoundation#2214)

* prevent acceleration on avoidance

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

* fix param name

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

* parametrize avoidance acc

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

* change param name

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

* fix typo

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

* Fix qos in roi cluster fusion (autowarefoundation#2218)

* fix confidence (autowarefoundation#2220)

* too high confidence (autowarefoundation#2229)

* Fix/obstacle stop 0.23.0 (autowarefoundation#2232)

* fix unexpected slow down in sharp curves (autowarefoundation#2181)

* Fix/insert implementation (autowarefoundation#2186)

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

* [hotfix] Remove exception in avoidance module (autowarefoundation#2233)

* Remove exception

* Fix clock

* Remove blank line

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

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

* fix interpolation for insert point (autowarefoundation#2228)

* fix interpolation for insert point

* to prev interpolation pkg

* fix index (autowarefoundation#2265)

* turn signal calculation (#2280)

* add turn signal funtion in path shifter

* add ros parameters

Co-authored-by: Fumiya Watanabe <[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: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: taikitanaka3 <[email protected]>
Co-authored-by: Sugatyon <[email protected]>

* [behavior_path_planner] fix sudden path change around ego (autowarefoundation#2305) (autowarefoundation#2318)

* fix return-from-ego shift point generation logic

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

* change param for trimSimilarGradShiftPoint

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

* add comment for issue

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

* update comment

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

* replace code with function (logic has not changed)

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

* move func to cpp

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

* add comment for issue

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

* fix typo

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

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

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

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

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

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

* Add functions to make stamped scalar messages (autowarefoundation#2317)

* Fix/object yaw in intersection module (autowarefoundation#2294)

* fix object orientation

* fix function name

* add guard (autowarefoundation#2321)

* reduce cost (double to float) (autowarefoundation#2298)

* Add detail collision check (autowarefoundation#2274)

* Add detail collision check

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

* Remove unused function

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

* Fix arc length

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

* Seperate time margin

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* Fix parameter name

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* Update Readme

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* Address review: Add comment for TimeDistanceArray

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* Run pre-commit

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* Fix cpplint

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* Add return for empty polygon

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* update CenterPoint  (autowarefoundation#2222)

* update to model trained by mmdet3d

* add vizualizer (debug)

* for multi-frame inputs

* chagne config

* use autoware_utils::pi

* project specific model and param

* rename vfe -> encoder

* rename general to common

* update download link

* update

* fix

* rename model_name

* change training toolbox link

* chage lint package

* fix test error

* commit suggestion

* Feature/lane change detection (autowarefoundation#2331)

* add old information deleter

* fix access bug

* change to deque

* update obstacle buffer

* fix some bugs

* add lane change detector

* make a update lanelet function

* fix code style

* parameterize essential values

* Update perception/object_recognition/prediction/map_based_prediction/src/map_based_prediction_ros.cpp

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

* fix slash position

* remove unnecessary lines

* fix format

* fix format

* change to new enum

* fix format

* fix typo and add guard

* change funciton name

* add lane change description

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

* Add Planning Evaluator  (autowarefoundation#2293)

* Add prototype planning evaluator

Produced data for dist between points, curvature, and relative angle

* Cleanup the code to make adding metrics easier

* Add remaining basic metrics (length, duration, vel, accel, jerk)

* Add motion_evaluator to evaluate the actual ego motion + code cleanup

* Add deviation metrics

* Add naive stability metric

* Handle invalid stat (TODO: fix the output file formatting)

* Add parameter file and cleanup

* Add basic obstacle metric (TTC not yet implemented) and fix output file format

* Add basic time to collision

* Add lateral-distance based stability metric

* Add check (at init time) that metrics' maps are complete

* Publish metrics as ParamaterDeclaration msg (for openscenario)

* Use lookahead and start from ego_pose when calculating stability metrics

* Code cleanup

* Fix lint

* Add tests

* Fix bug with Frechet dist and the last traj point

* Finish implementing tests

* Fix lint

* Code cleanup

* Update README.md

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* Change msg type of published metrics to DiagnosticArray

* fix format to fix pre-commit check

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* fix yaml format to fix pre-commit check

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* fix yaml format

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* apply clang-format

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* apply clang-format

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* Update planning/planning_diagnostics/planning_evaluator/include/planning_evaluator/planning_evaluator_node.hpp

* Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp

* Update planning/planning_diagnostics/planning_evaluator/test/test_planning_evaluator_node.cpp

* change lint format to autoware_lint_common

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* Add keep braking function at driving state (autowarefoundation#2346)

* Add keep braking function at driving state

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

* Remove debug messages

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

* Fix format

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* Change diag_updater's pediod from default to 0.1sec (autowarefoundation#2348)

* add cross judgement and common signal function (autowarefoundation#2319)

* merge branch turn_signal_common

* add turn signal function in signal decider

* add cross judge in path_utilities and delete from turn_signal_decider

* remove original signal calculation in lane change

* omit substitution

* replace turn signal decider in pull over function

* modify cross judge logic

* replace turn signal decider in avoidance

* add readme of turn signal

* update

* delete print debug

* update

* delete lane change decider in path shifter

* delete blank line

* fix indent

* fix typo

* fix typo

* decrease nest

* run pre commit

* Add 0 limit at forward jerk velocity filter (autowarefoundation#2340)

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

* add time offset param to point cloud concatenation (autowarefoundation#2303)

* add offset param

* clang-format

Co-authored-by: Akihito OHSATO <[email protected]>

* Feature/add doc for keep braking function at driving state (autowarefoundation#2366)

* Add the description of brake keeping

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* Add the english document

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* Improve description

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* Add english description

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* Fix include files (autowarefoundation#2339)

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* fix behavior intersection module

* fix behavior no stopping area module

* fix planning_evaluator

* fix motion_velocity_smoother

* rename variable

* Revert "[mpc_follower] remove stop distance condition from stopState decision (autowarefoundation#1916)"

This reverts commit ff4f0b5a844d1f835f1b93bd3b36a76747b0cd02.

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This reverts commit f0478187db4c28bf6092c198723dcc5ec11a9c70.

* Revert "Feature/add doc for keep braking function at driving state (autowarefoundation#2366)"

This reverts commit 66de2f3924a479049fce2d5c5c6b579cacbd3e49.

* Fix orientation availability in centerpoint

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* fix test_trajectory.cpp

* add target link libraries

* Use .auto msg in test code for planniing evaluator

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kminoda pushed a commit to kminoda/autoware.universe that referenced this pull request Aug 17, 2022
@taikitanaka3 @tkimura4
@obi-t4 @mitsudome-r @nnmm @jilaada @wep21 @kenji-miyake @kmiya @ito-san @sgk-000 @KeisukeShima @isamu-takagi @yukkysaito @h-ohta @k-obitsu @TakaHoribe @rej55 @takayuki5168 @purewater0901 @satoshi-ota @1222-takeshi
feat: add awapi adapter package (autowarefoundation#103)
feef2b5 
* Feature/awapi awiv adapter first pr (autowarefoundation#685)

* add base file of awapi_awiv_adapter

* publish autoware status

* update readme

* fix readme

* rename file

* add relay topic

* change msg name

* publish autoware status

* update readme

* add new message

* add lane change topic, obstacle avoidance topic

* update readme

* fix readme

* add namespace

* rename lane change available

* fix readme

* change pub hz

* change topic name

* change control mode and add gate_mode

* fix readme

* update readme

Signed-off-by: tanaka3 <[email protected]>

* fix typo (autowarefoundation#687)

Signed-off-by: tanaka3 <[email protected]>

* move msg file to autoware_api_msgs (autowarefoundation#693)

Signed-off-by: tanaka3 <[email protected]>

* Fix/awapi awiv adapter (autowarefoundation#698)

* subscribe global rpt

* update readme

* update readme

* add warning

* fix readme

* update readme

Signed-off-by: tanaka3 <[email protected]>

* add check mark for awapi readme (autowarefoundation#723)

* add check mark for awapi readme

* add blank

* add blank

* add blank

Signed-off-by: tanaka3 <[email protected]>

* Feature/stop reason api (autowarefoundation#729)

* fix indent of readme

* add mock of stop reason aggregator

* add constptr to stop reason

* aggregate message

* add empty handling

* add nullptr handling

* fix bug

* update readme

* fix bug

* remove unused ifdef

* unify same reason msg to stop factor

Signed-off-by: tanaka3 <[email protected]>

* modify put/goal -> put/route (autowarefoundation#736)

Signed-off-by: tanaka3 <[email protected]>

* Feature/add goal api (autowarefoundation#734)

* add  goal api

* add msg

* update readme

* add  const auto

* clean code

Signed-off-by: tanaka3 <[email protected]>

* Feature/extract leaf diag info (autowarefoundation#741)

* add mock function of extract leaf diag

* remove parent diag

* change method of isLeaf

* clean code

* change varibale/function name

* remove string predefine

* update readme

Signed-off-by: tanaka3 <[email protected]>

* update awapi readme (autowarefoundation#747)

Signed-off-by: tanaka3 <[email protected]>

* Feature/change output awapi (autowarefoundation#782)

* change ouput of awapi

* change error output to warn

Signed-off-by: tanaka3 <[email protected]>

* Feature/add battery to awapi (autowarefoundation#804)

* implement battery fuel

* update readme

* add getGearInfo

* fix message name

* set default value:nan to battery

Signed-off-by: tanaka3 <[email protected]>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* Revert "remove ROS1 packages temporarily"

This reverts commit c85c1d6789b1a1e63c6b4e60fa4f3296dfb12e74.

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* add COLCON_IGNORE to ros1 packages

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

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* Port awapi_awiv_adapter to ROS2 (autowarefoundation#51)

* Port autoware_api_msgs to ROS2

* Integrate topic_tools

* Don't inherit from Node, convert to milliseconds

* Remove _node suffix from non-node loggers

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* Rename h files to hpp (autowarefoundation#142)

* Change includes

* Rename files

* Adjustments to make things compile

* Other packages

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

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* Use quotes for includes where appropriate (autowarefoundation#144)

* Use quotes for includes where appropriate

* Fix lint tests

* Make tests pass hopefully

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

* Run uncrustify on the entire Pilot.Auto codebase

* Exclude open PRs

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* Add linters (autowarefoundation#227)

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* Ros2 v0.8.0 awapi awiv adapter (autowarefoundation#282)

Signed-off-by: tanaka3 <[email protected]>

* Ros2 v0.8.0 engage (autowarefoundation#342)

* [autoware_vehicle_msgs]: Add engage message

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* [as]: Update message

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* [awapi_awiv_adapter]: Update message

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* [web_controller]: Update message

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* [vehicle_cmd_gate]: Update message

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* [autoware_state_monitor]: Update message

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* [autoware_control_msgs]: Remove EngageMode message

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* [simple_planning_simulator]: Update message

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* Ros2 v0.8.0 remove std msgs awapi (autowarefoundation#348)

* [autoware_vehicle_msgs] add BatteryStatus msg

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* [autoware_planning_msgs] add ExpandStopRange and StopSpeedExceeded messages

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* [autoware_api_msgs] add DoorControlCommand, StopCommand, and VelocityLimit messages

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* remove std_msgs related to autoware_awaiv_adapter node

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* apply ament_uncrustify

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* fix build failure

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* fix test failures

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* address review commends

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* Awapi update v0.9.0 (autowarefoundation#350)

* Feature/add current maxvel to awapi (autowarefoundation#1142)

* add current max vel to awapi

* add readme

* apply format

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* fix build error

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* Add missing return (autowarefoundation#1170)

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* fix cast type

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* [awapi_awiv_adapter] fix bug in the launch file (autowarefoundation#391)

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* modify pose_initialize for foa  (autowarefoundation#382)

* pose_initialize for foa (autowarefoundation#1171)

* pose_initialize for foa

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* rename topic

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* fix topic name

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* fix topic name (autowarefoundation#404)

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* [awapi_awiv_adapter] fix qos for some of the topics in awapi_awiv_adapter (autowarefoundation#413)

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* Fix transform (autowarefoundation#420)

* Replace rclcpp::Time(0) by tf2::TimePointZero() in lookupTransform

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* Fix canTransform

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* Fix test

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* Fix typo in awapi module (autowarefoundation#438)

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* Import v0.9.1 (autowarefoundation#431)

* add local optimal solution ocillation check to ndt_scan_matcher (autowarefoundation#1182)

* Add obstacle_crush diagnostic (autowarefoundation#1186)

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

* Fix diagnostics api (autowarefoundation#1185)

* Fix diagnostics api

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* Don't overwrite level

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

* Overwrite level of No Fault diagnostics

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* Add missing diag in autoware_error_monitor.yaml (autowarefoundation#1187)

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* Filter hazard_status (autowarefoundation#1191)

* Filter hazard_status

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* Filter leaf diagnostics

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

* Fix wrong calculation of available memory. (autowarefoundation#1168)

* Fixed wrong calculation of available memory.

* Added comments about output example of free -tb command.

* Change monitoring method to get HDD temperature and usage per specified device. (autowarefoundation#1195)

* Changed monitoring method to get temperature and usage per specified device.

* Fixed test codes.

* Removed unnecessary (void) parameter.

* return input pointcloud when ground plane not found (autowarefoundation#1190)

* fix yaw-smoothing bug (autowarefoundation#1198)

* Fix lint

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

Co-authored-by: Taichi Higashide <[email protected]>
Co-authored-by: ito-san <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* add tl overwriter relay in awapi (autowarefoundation#451)

* add tl overwriter relay in awapi

* add missed topic type

* fix typo of topic name

Signed-off-by: tanaka3 <[email protected]>

* add use_sim-time option (autowarefoundation#454)

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* Format launch files (autowarefoundation#1219)

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* Fix rolling build errors (autowarefoundation#1225)

* Add missing include files

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* 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]>
Signed-off-by: tanaka3 <[email protected]>

* Awapi relay component (autowarefoundation#1237)

Signed-off-by: tanaka3 <[email protected]>

* Refine BSD license name (autowarefoundation#1244)

Signed-off-by: tanaka3 <[email protected]>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* Clear hazard level when ignored (autowarefoundation#1200) (autowarefoundation#1289)

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

Co-authored-by: Kenji Miyake <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* fix flake8 (autowarefoundation#1306)

Signed-off-by: tanaka3 <[email protected]>

* Add perception traffic light state output (autowarefoundation#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]>
Signed-off-by: tanaka3 <[email protected]>

* Fix lint errors (autowarefoundation#1378)

* Fix lint errors

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* Fix variable names

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

* change msg type looking traffic light state (autowarefoundation#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

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* Fix lint

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Co-authored-by: tkimura4 <[email protected]>
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Signed-off-by: tanaka3 <[email protected]>

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

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* Ignore .param.yaml

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

* Apply format

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Signed-off-by: tanaka3 <[email protected]>

* Fix -Wunused-parameter (autowarefoundation#1836)

* Fix -Wunused-parameter

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* Fix mistake

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* fix spell

* Fix lint issues

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* Ignore flake8 warnings

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Co-authored-by: Hiroki OTA <[email protected]>
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* Fix compiler warnings (autowarefoundation#1837)

* Fix -Wunused-private-field

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* Fix -Wunused-variable

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* Fix -Wformat-security

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* 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]>
Signed-off-by: tanaka3 <[email protected]>

* Add autoware api (autowarefoundation#1979)

Signed-off-by: tanaka3 <[email protected]>

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

Signed-off-by: tanaka3 <[email protected]>

* Move launch file of external_cmd_selector (autowarefoundation#2017)

* Move launch file of external_cmd_selector

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

* Add copyright

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

* Use DeclareLaunchArgument

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

* Fix external command api name

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

* Move common parameters

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

* Fix format

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

* Fix format

Signed-off-by: Takagi, Isamu <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* Use EmergencyState instead of deprecated EmergencyMode (autowarefoundation#2030)

* Use EmergencyState instead of deprecated EmergencyMode

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

* Use stamped type

Signed-off-by: Kenji Miyake <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* 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

Signed-off-by: tanaka3 <[email protected]>

* fix awapi_autoware_state_publisher (autowarefoundation#2085)

Signed-off-by: tanaka3 <[email protected]>

* Feature/porting behavior path planner (autowarefoundation#1645)

* Add behavior path planner pkg with Lane Change (autowarefoundation#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 (autowarefoundation#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 (autowarefoundation#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 autowarefoundation#1526 into behavior path planner (autowarefoundation#1531)

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

* Fix/behavior path empty path output guard (autowarefoundation#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 (autowarefoundation#1549)

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

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

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

* Fix ignore too steep avoidance path (autowarefoundation#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 (autowarefoundation#1615)

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

* Ignore object ahead goal for avoidance (autowarefoundation#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 (autowarefoundation#1636)

* fix intersection stop line

* fix typo

* add document (autowarefoundation#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 (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]>

* 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]>
Signed-off-by: tanaka3 <[email protected]>

* Feature/porting motion velocity smoother (autowarefoundation#1653)

* Add motion_velocity_smoother (autowarefoundation#1333)

* Refactor node and utilities

* Fix utilities

* Fix utilities

* Fixing...

* Runs with L2 smoother

* Use boost::optional

* Add Linf, JerkFiltered

* JerkFiltered

* Fix

* Fix awapi

* Fix bug

* Add config files

* Fix bug

* Fix bug and apply clang-format

* Remove unused variable

* Fix bug

* Change C-style cast to static_cast

* Add destructors

* Use smart pointers for members

* Add test

* Fix test code

* Tmp: add L2 norm of jerk in objective function

* Fix external velocity limit

* Fix interpolate in velocity controller and remove prevent move to close stop line

* add initial velocity and acceleration to the filter function

* Fix index calculation

* add new marge function

* handle edge case

* Tmp: skip osqp_interface build test

* Revert get_modified_package.sh

* Fix CI

* Fix version of osqp

* Fix

* Add design docment (JPN)

* Fix linear interpolation

* Refactor node and utilities

* Fix utilities

* Fix utilities

* Fixing...

* Runs with L2 smoother

* Use boost::optional

* Add Linf, JerkFiltered

* JerkFiltered

* Fix

* Fix awapi

* Fix bug

* Add config files

* Fix bug

* Fix bug and apply clang-format

* Remove unused variable

* Fix bug

* Change C-style cast to static_cast

* Add destructors

* Use smart pointers for members

* Add test

* Fix test code

* Tmp: add L2 norm of jerk in objective function

* Fix external velocity limit

* Fix interpolate in velocity controller and remove prevent move to close stop line

* add initial velocity and acceleration to the filter function

* Fix index calculation

* add new marge function

* handle edge case

* Tmp: skip osqp_interface build test

* Revert get_modified_package.sh

* Fix CI

* Fix version of osqp

* Fix

* Add design docment (JPN)

* Fix linear interpolation

* add new sample function

* Fix

* Revert velocity_controller

* Reset motion_velocity_optimizer

* Fix parameter setting

* Refactor and fix bugs

* Use autoware_utils

* Fix doc and bug

* Fix doc

* Fix external velocity limit and parametrize margin and jerk weight

* Fix typo

* Fix typo and remove old readme

* add stop point calculation and modify objective function

* Add parameter handling functions and add namespace

* Rename calcClosestTrajectoryPoint to calcInterpolatedTrajectoryPoint and remove unused function

* Fix applyExternalVelocityLimit and fix comments

* Fix variable name

* Fix variable name

* Fix yaml comment

* Add const

* Fix interpolaion

* Remove run() and change type of prev_closest_point_

* Update planning/scenario_planning/common/motion_velocity_smoother/src/smoother/smoother_base.cpp

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

* fix stop point error

* Fix linear interpolation and external velocity calculation

* Remove debug code

* Rename BaseParam

* Remove unused func and fix misc

* Fix package.xml, include, apply formatting

* Fix external velocity limit

* add debug calculation time

* modify calculation time debugger

* modify calculation time publisher

* rescale the calculation time

* Fix some problem

* Update planning/scenario_planning/common/motion_velocity_smoother/launch/motion_velocity_smoother.launch

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

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

* Add Resample Procedure after the optimization in motion_velocity_smoother (autowarefoundation#1530)

* do resample after the optimization

* modify resample timing

* add 0 at the end of the resampeld output trajectory

* Manage parameters

* Fix format

* Fix format

* Devide resample function in other file

* Update default_motion_velocity_smoother.yaml

* Update default_motion_velocity_smoother.yaml

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

* Output debug trajectories in motion velocity smoother (autowarefoundation#1533)

* add debug trajectory

* add rqt_multiplot setting files

* add calculation tiem visualization

* guard emtpy output (autowarefoundation#1537)

* Motion velocity smoother doc (autowarefoundation#1563)

* Fix doc

* Add english doc (tmp)

* Add english file

* Remove unused files

* Fix

* Fix typo

* Modify 1-size trajectory handling & warning messages (autowarefoundation#1540)

* add new guard to delete unnecessary message

* change message

* add warning messages

* chnage message to warning

* chnage to throttle

* Fix jerk filter calculation (autowarefoundation#1593)

* modify jerk filter calculation

* remove unnecessary code

* change the way of interp. of pose in smoother (autowarefoundation#1600)

* Update smoother resampling (autowarefoundation#1595)

* add new guard to delete unnecessary message

* change message

* add warning messages

* chnage message to warning

* chnage to throttle

* modify jerk filter calculation

* modify jerk filter calculation

* separate resampling code

* add new parameter

* add new parameter to dynamic reconfigure

* remove unnecessary code

* add sampling before optimization

* add const and blocker

* change access to at

* fix terminal length value

* add comments

* clean code

* add comment

* Fix/insert backward on reverse trajectory (autowarefoundation#1602)

* remove unused code

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

* move debug code

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

* fix insert backward on reverse trajectory

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

* Porting motion velocity smoother to ros2

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

* Fix launch and fix warning

* pre-commit fixes

* Remove unused argument

* Comment out unused parameter

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

* Add distance threshold in motion_velocity_smoother (autowarefoundation#1659)

* Add distance threshold

* Remove parameters and use default value

* Fix for pre-commit

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

* Support Non-zero Stop Point Acceleration (autowarefoundation#1651)

* Support non-zero stop point acceleration

* modify zero velocity id search function (autowarefoundation#1690)

* modify zero velocity id search function

* Fix resample function and error handling

* Add comment

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

* Apply lint

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

* pre-commit fixes

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

Co-authored-by: Fumiya Watanabe <[email protected]>
Co-authored-by: yutaka <[email protected]>
Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: purewater0901 <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: pre-commit <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* Fix/update max velocity topic name (autowarefoundation#2236)

Signed-off-by: tanaka3 <[email protected]>

* 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]>
Signed-off-by: tanaka3 <[email protected]>

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* Port awapi awiv adapter to .auto (autowarefoundation#554)

* Remove COLCON_IGNORE

* Change AutowareState

* Change EmergencyState

* Change HazardStatus

* Split file for convert function

* Change Path

* Change Trajectory

* Change ControlMode

* Change Shift

* Change TurnSignal and move converter

* Change Steering

* Change VehicleCommand

* Fix EmergencyState

* Fix for pre-commit

* Move autoware state converter

* Fix control comand

* Change TwistStamped

* Remove unused header

Signed-off-by: tanaka3 <[email protected]>

* Use pacmod3 msgs (autowarefoundation#610)

* Migration to pacmod3 msgs

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

* Fix action for pacmod

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

* Run pre-commit

Signed-off-by: wep21 <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* fix package.xml (autowarefoundation#630)

Co-authored-by: Takayuki Murooka <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* adapt to actuation cmd/status as control msg (autowarefoundation#646)

* adapt to actuation cmd/status as control msg

* fix readme

* fix topics

* fix remaing topics

* as to pacmod interface

* fix vehicle status

* add header to twist

* revert gyro_odometer_change

* revert twist topic change

* revert unchanged package

Signed-off-by: tanaka3 <[email protected]>

* fix awapi topics (autowarefoundation#685)

Signed-off-by: tanaka3 <[email protected]>

* fix mixed route topic (autowarefoundation#695)

Signed-off-by: tanaka3 <[email protected]>

* Fix/psim topics emergency handler awapi (autowarefoundation#702)

* fix emergency handler

* fix awapi

* remove unused topic

* remove duplecated vehicle cmd

Signed-off-by: tanaka3 <[email protected]>

* Fix topic type of awapi relay (autowarefoundation#701)

* Fix topic type of awapi relay

* Fix

Signed-off-by: tanaka3 <[email protected]>

* fix door cmd topic (autowarefoundation#711)

* fix door cmd topic

* fix topic

Signed-off-by: tanaka3 <[email protected]>

* Update traffic light topic name (autowarefoundation#729)

* Update traffic light topic name

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

* Update traffic light topic name in perception

Signed-off-by: wep21 <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* Update twist topic name (autowarefoundation#736)

Signed-off-by: wep21 <[email protected]>
Signed-off-by: tanaka3 <[email protected]>

* fix: refactor readme

Co-authored-by: Takeshi Miura <[email protected]>

Co-authored-by: tkimura4 <[email protected]>
Co-authored-by: hiroyuki obinata <[email protected]>
Co-authored-by: mitsudome-r <[email protected]>
Co-authored-by: Nikolai Morin <[email protected]>
Co-authored-by: Jilada Eccleston <[email protected]>
Co-authored-by: Daisuke Nishimatsu <[email protected]>
Co-authored-by: Ryohsuke Mitsudome <[email protected]>
Co-authored-by: Kenji Miyake <[email protected]>
Co-authored-by: Kazuki Miyahara <[email protected]>
Co-authored-by: Taichi Higashide <[email protected]>
Co-authored-by: ito-san <[email protected]>
Co-authored-by: Shigeki Kobayashi <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: Takagi, Isamu <[email protected]>
Co-authored-by: Yukihiro Saito <[email protected]>
Co-authored-by: Hiroki OTA <[email protected]>
Co-authored-by: Keisuke Shima <[email protected]>
Co-authored-by: k-obitsu <[email protected]>
Co-authored-by: Takamasa Horibe <[email protected]>
Co-authored-by: rej55 <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: yutaka <[email protected]>
Co-authored-by: purewater0901 <[email protected]>
Co-authored-by: pre-commit <[email protected]>
Co-authored-by: Satoshi OTA <[email protected]>
Co-authored-by: Takayuki Murooka <[email protected]>
Co-authored-by: Takeshi Miura <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@purewater0901 @boyali
feat(behavior_path_planner): fix resampling method (tier4#1526)
af4d6bd 
Signed-off-by: yutaka <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@purewater0901 @boyali
feat(behavior_path_planner): fix resampling method (tier4#1526)
a9759bc 
Signed-off-by: yutaka <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@purewater0901 @boyali
feat(behavior_path_planner): fix resampling method (tier4#1526)
85663d1 
Signed-off-by: yutaka <[email protected]>
yukke42 pushed a commit to tzhong518/autoware.universe that referenced this pull request Oct 14, 2022
@purewater0901
feat(behavior_path_planner): fix resampling method (autowarefoundatio…
b62a7fe 
…n#1526)

Signed-off-by: yutaka <[email protected]>
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@purewater0901 @boyali
feat(behavior_path_planner): fix resampling method (tier4#1526)
946f9ba 
Signed-off-by: yutaka <[email protected]>
badai-nguyen added a commit to badai-nguyen/autoware.universe that referenced this pull request Oct 22, 2024
@badai-nguyen @manato
@pre-commit-ci @yukkysaito @kminoda @vividf
feat: cherry-pick and add image_segmentation_based_filter for beta/v0…
2077fae 
….29.0 (autowarefoundation#1526)

* feat(tensorrt yolox): inference and publish mask image from yolox model with semantic segmentation header (autowarefoundation#5553)

* add segmentation model

Signed-off-by: badai-nguyen <[email protected]>

fix: add multitask for segment

Signed-off-by: badai-nguyen <[email protected]>

* fix: publish mask

Signed-off-by: badai-nguyen <[email protected]>

* feat: publish colorized mask

Signed-off-by: badai-nguyen <[email protected]>

* fix: resize yolox mask

Signed-off-by: badai-nguyen <[email protected]>

* fix: add memory allocate operations

Signed-off-by: Manato HIRABAYASHI <[email protected]>

* refactor: remove underscore for a local variable

Signed-off-by: Manato HIRABAYASHI <[email protected]>

* chore: add condition to check the number of subscriber for newly added topics

Signed-off-by: Manato HIRABAYASHI <[email protected]>

* chore: pre-commit

Signed-off-by: badai-nguyen <[email protected]>

* fix: add roi overlapping segment

Signed-off-by: badai-nguyen <[email protected]>

* fix: roi overlay segment

Signed-off-by: badai-nguyen <[email protected]>

* chore: refactor

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* docs: update readme

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* feat(tier4_perception_launch): add image segmentation based pointcloud filter (autowarefoundation#7225)

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