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fix(stop_line): add ros_parameter #347
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Signed-off-by: k-obitsu <[email protected]>
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Jun 8, 2022
...nario_planning/lane_driving/behavior_planning/behavior_velocity_planner/stop_line.param.yaml
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Signed-off-by: k-obitsu <[email protected]>
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scepter914
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* chore: sync awf-latest (#322) style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * chore: sync awf-latest (#325) * chore: sync files (#311) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat: disable namespace `lane_start_bound` (#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake <[email protected]> * rename Signed-off-by: Kenji Miyake <[email protected]> * refactor(vehicle_cmd_gate): add namespace (#316) Signed-off-by: Takamasa Horibe <[email protected]> * style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake <[email protected]> * chore(behavior_velocity): update latest params (#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](tier4/pre-commit-hooks-ros@v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](scop/pre-commit-shfmt@v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (#305) * add rtc controller Signed-off-by: tkhmy <[email protected]> * change line Signed-off-by: tkhmy <[email protected]> * change back to alphabetical order Signed-off-by: tkhmy <[email protected]> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <[email protected]> * chore: sync awf-latest (#334) * chore: sync files (#327) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * refactor: virtual wall rviz config (#326) Signed-off-by: Takamasa Horibe <[email protected]> * feat(rviz_plugin): adaptive scaling for display size (#329) Signed-off-by: Takamasa Horibe <[email protected]> * fix: support context dict key for humble (#328) * fix: support context dict key for humble Signed-off-by: wep21 <[email protected]> * add todo comment Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * fix: modify type of global parameter (#333) Signed-off-by: wep21 <[email protected]> * chore: sync files (#335) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat: use multithread for traffic light container as default (#336) Signed-off-by: tomoya.kimura <[email protected]> * fix(localization_launch): fix input topic name (#338) * feat(behavior_velocity): add run out module (#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando <[email protected]> * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Tomoya Kimura <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(mission_planner): disable lane_start_bound in Rviz (#341) Signed-off-by: h-ohta <[email protected]> * fix(stop_line): add ros_parameter (#347) * fix(stop_line): add ros_parameter Signed-off-by: k-obitsu <[email protected]> * fix(perception_launch): fix vehicle param in perception launch Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Tomoya Kimura <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: k-obitsu <[email protected]>
TakumiKozaka-T4
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Jul 12, 2022
* chore: sync awf-latest (#322) style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * chore: sync awf-latest (#325) * chore: sync files (#311) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat: disable namespace `lane_start_bound` (#314) * feat: disable lane_bound * fix: lane_start_bound * feat: add center_line_arrows to disable * ci: add sync-awf.yaml (#318) * ci: add sync-awf.yaml Signed-off-by: Kenji Miyake <[email protected]> * rename Signed-off-by: Kenji Miyake <[email protected]> * refactor(vehicle_cmd_gate): add namespace (#316) Signed-off-by: Takamasa Horibe <[email protected]> * style: fix flake8 C417 (#321) Signed-off-by: Kenji Miyake <[email protected]> * chore(behavior_velocity): update latest params (#320) * chore(behavior_velocity): update latest params Signed-off-by: tanaka3 <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * ci(pre-commit): autoupdate (#324) updates: - [github.com/tier4/pre-commit-hooks-ros: v0.7.0 → v0.7.1](tier4/pre-commit-hooks-ros@v0.7.0...v0.7.1) - [github.com/scop/pre-commit-shfmt: v3.4.3-1 → v3.5.0-1](scop/pre-commit-shfmt@v3.4.3-1...v3.5.0-1) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(autoware_api_launch): add rtc controller (#305) * add rtc controller Signed-off-by: tkhmy <[email protected]> * change line Signed-off-by: tkhmy <[email protected]> * change back to alphabetical order Signed-off-by: tkhmy <[email protected]> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <[email protected]> * chore: sync awf-latest (#334) * chore: sync files (#327) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * refactor: virtual wall rviz config (#326) Signed-off-by: Takamasa Horibe <[email protected]> * feat(rviz_plugin): adaptive scaling for display size (#329) Signed-off-by: Takamasa Horibe <[email protected]> * fix: support context dict key for humble (#328) * fix: support context dict key for humble Signed-off-by: wep21 <[email protected]> * add todo comment Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> * fix: modify type of global parameter (#333) Signed-off-by: wep21 <[email protected]> * chore: sync files (#335) Signed-off-by: GitHub <[email protected]> Co-authored-by: kenji-miyake <[email protected]> * feat: use multithread for traffic light container as default (#336) Signed-off-by: tomoya.kimura <[email protected]> * fix(localization_launch): fix input topic name (#338) * feat(behavior_velocity): add run out module (#339) * feat(behavior_velocity): add parameter yaml for behavior_velocity_planner Signed-off-by: Tomohito Ando <[email protected]> * feat(behavior_velocity): add run out module Signed-off-by: Tomohito Ando <[email protected]> * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: Tomoya Kimura <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(mission_planner): disable lane_start_bound in Rviz (#341) Signed-off-by: h-ohta <[email protected]> * fix(stop_line): add ros_parameter (#347) * fix(stop_line): add ros_parameter Signed-off-by: k-obitsu <[email protected]> * add localization score relay node Signed-off-by: TakumiKozaka-T4 <[email protected]> * pull awf-latest Signed-off-by: TakumiKozaka-T4 <[email protected]> Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> Co-authored-by: Kenji Miyake <[email protected]> Co-authored-by: kenji-miyake <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: taikitanaka3 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Kah Hooi Tan <[email protected]> Co-authored-by: Daisuke Nishimatsu <[email protected]> Co-authored-by: Tomoya Kimura <[email protected]> Co-authored-by: Yamato Ando <[email protected]> Co-authored-by: Tomohito ANDO <[email protected]> Co-authored-by: k-obitsu <[email protected]>
takayuki5168
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Signed-off-by: Kenji Miyake <[email protected]>
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Signed-off-by: k-obitsu [email protected]
PR Type
Related Links
https://tier4.atlassian.net/browse/T4PB-17592
autowarefoundation/autoware.universe#1058
Description
issues
The related issue is below.
autowarefoundation/autoware.universe#1064
The related PR is below.
autowarefoundation/autoware.universe#1058
Causes
This problem is due to the fact that after passing the stop line in manual operation, State transitions to START, but cannot transition to APPROACH.
Measures
Therefore, I will take the following measures.
・Added ros_parameter for stop_line state
・Changed the condition of if statement constexpr param to ros_param
Functional level test method
Check the following using PSim.
A route with one stop line that automatically drives the vehicle.
・After arriving at the goal, place the vehicle near the stop line. (using 2D pose estimate)
・And after the above, place the vehicle at the start point, restart the vehicle.
・Make sure to stop at the stop line.
A route with two stop line with an interval of 2m or more that automatically drives the vehicle.
・After arriving at the goal, place the vehicle near the one of stop line. (using 2D pose estimate)
・And after the above, place the vehicle at the start point, restart the vehicle.
・Make sure to stop at the both of stop line.
In addition to the above, embed the debug code so that State can be confirmed on the terminal, and confirm that State transitions as expected.
Functional level test result
I confirmed that I passed the above.
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